error while running orbslam3 example

[cuongnguyensad]

... logging to /home/cuongduc/.ros/log/ae2b41d0-7aaf-11ed-8036-d965f0b19240/roslaunch-idealpad-56861.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://localhost:36581/

SUMMARY

PARAMETERS

• /orb_slam3_mono_inertial/cam_frame_id: camera
• /orb_slam3_mono_inertial/settings_file: /home/cuongduc/ca...
• /orb_slam3_mono_inertial/voc_file: /home/cuongduc/ca...
• /orb_slam3_mono_inertial/world_frame_id: world
• /orb_slam3_ros/trajectory_server_orb_slam3/source_frame_name: /camera
• /orb_slam3_ros/trajectory_server_orb_slam3/target_frame_name: /world
• /orb_slam3_ros/trajectory_server_orb_slam3/trajectory_publish_rate: 20.0
• /orb_slam3_ros/trajectory_server_orb_slam3/trajectory_update_rate: 20.0
• /rosdistro: noetic
• /rosversion: 1.15.15

NODES
/
orb_slam3_mono_inertial (orb_slam3_ros_wrapper/orb_slam3_ros_wrapper_mono_inertial)
rviz (rviz/rviz)
/orb_slam3_ros/
trajectory_server_orb_slam3 (hector_trajectory_server/hector_trajectory_server)

ROS_MASTER_URI=http://localhost:11311

process[orb_slam3_mono_inertial-1]: started with pid [56875]
process[rviz-2]: started with pid [56876]
ERROR: cannot launch node of type [hector_trajectory_server/hector_trajectory_server]: hector_trajectory_server
ROS path [0]=/opt/ros/noetic/share/ros
ROS path [1]=/home/cuongduc/catkin_ws/src
ROS path [2]=/opt/ros/noetic/share

ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: Monocular-Inertial
Loading settings from /home/cuongduc/catkin_ws/src/orb_slam3_ros_wrapper/config/EuRoC.yaml
Camera1.k3 optional parameter does not exist...
-Loaded camera 1
Camera.newHeight optional parameter does not exist...
Camera.newWidth optional parameter does not exist...
-Loaded image info
IMU.InsertKFsWhenLost optional parameter does not exist...
-Loaded IMU calibration
-Loaded ORB settings
-Loaded viewer settings
System.LoadAtlasFromFile optional parameter does not exist...
System.SaveAtlasToFile optional parameter does not exist...
-Loaded Atlas settings
System.thFarPoints optional parameter does not exist...
-Loaded misc parameters

SLAM settings:
-Camera 1 parameters (Pinhole): [ 458.654 457.296 367.215 248.375 ]
-Camera 1 distortion parameters: [ -0.283408 0.0739591 0.00019359 1.76187e-05 ]
-Original image size: [ 752 , 480 ]
-Current image size: [ 752 , 480 ]
-Sequence FPS: 20
-Gyro noise: 0.00017
-Accelerometer noise: 0.002
-Gyro walk: 1.9393e-05
-Accelerometer walk: 0.003
-IMU frequency: 200
-Features per image: 1200
-ORB scale factor: 1.2
-ORB number of scales: 8
-Initial FAST threshold: 20
-Min FAST threshold: 7

Loading ORB Vocabulary. This could take a while...
[ INFO] [1670913056.488832874]: rviz version 1.14.19
[ INFO] [1670913056.488957820]: compiled against Qt version 5.12.8
[ INFO] [1670913056.488990786]: compiled against OGRE version 1.9.0 (Ghadamon)
[ INFO] [1670913056.505582386]: Forcing OpenGl version 0.
[ INFO] [1670913056.842900726]: Stereo is NOT SUPPORTED
[ INFO] [1670913056.843016244]: OpenGL device: AMD RENOIR (DRM 3.42.0, 5.15.0-56-generic, LLVM 12.0.0)
[ INFO] [1670913056.843047183]: OpenGl version: 4,6 (GLSL 4,6) limited to GLSL 1.4 on Mesa system.
Vocabulary loaded!

Initialization of Atlas from scratch
Creation of new map with id: 0
Creation of new map with last KF id: 0
There are 1 cameras in the atlas
Camera 0 is pinhole

(ORB-SLAM3: Current Frame:56875): Gtk-ERROR *: 13:31:06.274: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported
[orb_slam3_mono_inertial-1] process has died [pid 56875, exit code -5, cmd /home/cuongduc/catkin_ws/devel/lib/orb_slam3_ros_wrapper/orb_slam3_ros_wrapper_mono_inertial /camera/image_raw:=/cam0/image_raw /imu:=/imu0 __name:=orb_slam3_mono_inertial __log:=/home/cuongduc/.ros/log/ae2b41d0-7aaf-11ed-8036-d965f0b19240/orb_slam3_mono_inertial-1.log].
log file: /home/cuongduc/.ros/log/ae2b41d0-7aaf-11ed-8036-d965f0b19240/orb_slam3_mono_inertial-1.log

After I ran this code :roslaunch orb_slam3_ros_wrapper euroc_monoimu.launch
the orbslam3 shut down, i dont know why? (i've already play the bag file)

[fickrie67]

probably because the gt lib used in opencv?
try change the opencv in cmakelist with:

find_package(OpenCV 4.0)
if(NOT OpenCV_FOUND)
find_package(OpenCV 3.0)
if(NOT OpenCV_FOUND)
message(FATAL_ERROR "OpenCV > 3.0 not found.")
endif()
endif()
MESSAGE("OPENCV VERSION:")
MESSAGE(${OpenCV_VERSION})