Reconstruction.yaml missing from stereo slam package

[tonystark12]

I am trying to use a stereo slam package,and by following the instructions, I completed the installation. I am trying to run this slam with drcsim Atlas bot, spawned in a gazebo vrc task environment.

Now, by editing the demo.launch file of the package, I can link the stereo_slam package to subscribe to topics which provide with the stereo pair of images. The edited launch file

    <launch>

<arg name="bagfile" default="/tmp/ROS.bag"/>

<!-- Setup the camera -->
<arg name="camera" default="/multisense_sl/camera/"/>
<param name="/use_sim_time" value="true"/>

<!-- Play the bagfile -->
<node pkg="rosbag" type="play" name="rosbag" args="--clock $(arg bagfile)"/>

<!-- Run the stereo image proc -->
<group ns="$(arg camera)">
    <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc" />
</group>

<!-- Run the visual odometry: You can choose between viso2 and fovis -->
<node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer">
    <remap from="stereo" to="$(arg camera)"/>
    <remap from="image" to="image_color"/>
    <param name="base_link_frame_id" value="/pelvis"/>
</node>
<!--node pkg="fovis_ros" type="stereo_odometer" name="fovis">
    <remap from="stereo" to="$(arg camera)"/>
    <remap from="image" to="image_color"/>
    <param name="base_link_frame_id" value="/pelvis"/>
</node-->

<!-- Stereo SLAM -->
<node pkg="stereo_slam" type="localization" name="slam" output="screen">

    <!-- Working directory -->
    <param name="work_dir" value="/home/tonystark/freelancing/Atlas_slam/slam/" />

    <!-- Topic parameters -->
    <param name="odom_topic" value="stereo_odometer/odometry"/>
    <param name="left_topic" value="$(arg camera)/left/image_color"/>
    <param name="right_topic" value="$(arg camera)/right/image_color"/>
    <param name="left_info_topic" value="$(arg camera)/left/camera_info"/>
    <param name="right_info_topic" value="$(arg camera)/right/camera_info"/>

    <!-- Min displacement between graph vertices (in meters) -->
    <param name="min_displacement" value="0.25"/>

    <!-- Descriptor type: SIFT or SURF -->
    <param name="desc_type" value="SIFT"/>

    <!-- Can be "CROSSCHECK" or "RATIO" -->
    <param name="desc_matching_type" value="CROSSCHECK"/>

    <!-- Descriptor threshold for crosscheck matching (typically between 0.7-0.9) or ratio for ratio matching (typically between 0.6-0.8).  -->
    <param name="desc_thresh_ratio" value="0.88" />

    <!-- Minimum number of neighbors that will be skiped for the loop closure (tipically between 5-20, but depends on the frame rate) -->
    <param name="min_neighbor" value="10" />

    <!-- Get the n first candidates of the hash matching (tipically between 1-5) -->
    <param name="n_candidates" value="5" />

    <!-- Minimun number of descriptor matches to consider a matching as possible loop closure (>8) -->
    <param name="min_matches" value="30" />

    <!-- Minimum number of inliers to consider a matching as possible loop closure (>8) -->
    <param name="min_inliers" value="15" />

    <!-- Set to 0 for LinearSlam Solver with gauss-newton. Set to 1 for LinearSlam Solver with Levenberg -->
    <param name="g2o_algorithm" value="0" />

    <!-- Maximum number of iteration for the g2o algorithm -->
    <param name="g2o_opt_max_iter" value="10" />
</node>

<!-- Pointcloud collector -->
<node pkg="stereo_slam" type="collector" name="collector" output="screen">

    <param name="work_dir" value="/home/tonystark/freelancing/Atlas_slam/slam/" />

    <param name="graph_topic" value="slam/graph"/>
    <param name="cloud_topic" value="$(arg camera)/scaled/points2"/>

    <rosparam file="$(find stereo_slam)/etc/reconstruction.yaml" />

</node>

When executing

    roslaunch stereo_slam demo.launch

I get the following error

    error loading <rosparam> tag: 
file does not exist [/home/tonystark/lib_haloc/src/stereo_slam/etc/reconstruction.yaml]
    XML is <rosparam file="$(find stereo_slam)/etc/reconstruction.yaml"/>
    The traceback for the exception was written to the log file

Upon searching, neither directory /etc nor the file reconstruction.yaml exited. Has anybody made use of this package? If yes, can you please tell me how to solve this? Is it a file and folder I should create by myself? Thanks in advance

[solbach]

Hey,
the file you mention has been deleted after commit 89bc321. Here you can find it: https://github.com/srv/stereo_slam/blob/89bc321b05247ae607c2b5d43c9f6bf347de2555/etc/reconstruction.yaml

Content

x_filter_min: -2.0
x_filter_max: 2.0
y_filter_min: -2.0
y_filter_max: 2.0
z_filter_min: 0.2
z_filter_max: 2.0

voxel_size_x: 0.005
voxel_size_y: 0.005
voxel_size_z: 0.4

radius_search: 0.2
min_neighors_in_radius: 40

My Best

[tonystark12]

Thank you. Have you got this package up and running? I need a bit of help.
Do you mind giving me a hand?

LN

On 12 August 2015 at 02:19, Markus Solbach notifications@github.com wrote:

Hey,
same here, I try to get this code running.
the file you mention has been deleted after commit 89bc321
89bc321.
Here you can find it:
https://github.com/srv/stereo_slam/blob/89bc321b05247ae607c2b5d43c9f6bf347de2555/etc/reconstruction.yaml

My Best

—
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#3 (comment).

[solbach]

No big deal. :)
As soon as I have it running, I'll let you know.

[tonystark12]

Thank you once again. I was not able to run it at all. I got few more
errors and packages missing. For example, this one :

ERROR: cannot launch node of type [stereo_slam/collector]: can't locate
node [collector] in package [stereo_slam]

Do you have this node?

On 12 August 2015 at 02:27, Markus Solbach notifications@github.com wrote:

No big deal. :)
As soon as I have it running, I'll let you know.

—
Reply to this email directly or view it on GitHub
#3 (comment).

[tonystark12]

I am trying to find from the commits, but please let me know if you had
this node while running it. :)

LN

On 12 August 2015 at 02:33, Jagadeesh Sparrow lakshmifull@gmail.com wrote:

Thank you once again. I was not able to run it at all. I got few more
errors and packages missing. For example, this one :

ERROR: cannot launch node of type [stereo_slam/collector]: can't locate
node [collector] in package [stereo_slam]

Do you have this node?

On 12 August 2015 at 02:27, Markus Solbach notifications@github.com
wrote:

No big deal. :)
As soon as I have it running, I'll let you know.

—
Reply to this email directly or view it on GitHub
#3 (comment).

[solbach]

Yes, you are right. This node is missing currently and was part of stereo_slam one year ago (https://github.com/srv/stereo_slam/tree/3dc6cbf6263e56121030af05504a4fd92639eff3/src).

[tonystark12]

Any idea why this is happening? Is it supposed to be a update?

On 12 August 2015 at 03:04, Markus Solbach notifications@github.com wrote:

Yes, you are right. This node is missing currently and was part of
stereo_slam one year ago ( 3dc6cbf
3dc6cbf
).

—
Reply to this email directly or view it on GitHub
#3 (comment).

[tonystark12]

I am using Ros Indigo. I think the commits you showed are from Hydro.

On 12 August 2015 at 03:24, Jagadeesh Sparrow lakshmifull@gmail.com wrote:

Any idea why this is happening? Is it supposed to be a update?

On 12 August 2015 at 03:04, Markus Solbach notifications@github.com
wrote:

Yes, you are right. This node is missing currently and was part of
stereo_slam one year ago ( 3dc6cbf
3dc6cbf
).

—
Reply to this email directly or view it on GitHub
#3 (comment).

[tonystark12]

Hey mate. Any help? Just wanted to know if you got somewhere. Check this
link for some more corrections.

srv/viso2#28

On 12 August 2015 at 02:19, Markus Solbach notifications@github.com wrote:

Hey,
same here, I try to get this code running.
the file you mention has been deleted after commit 89bc321
89bc321.
Here you can find it:
https://github.com/srv/stereo_slam/blob/89bc321b05247ae607c2b5d43c9f6bf347de2555/etc/reconstruction.yaml

My Best

—
Reply to this email directly or view it on GitHub
#3 (comment).

[solbach]

so... I have it running without any errors. I am also able to visualize the odometry in rviz. Since I don't have loop-closing data and my images are bigger than 700px ( in width, less is recommended(!) ) I am not able to test the whole algorithm. But I think with the following steps, you can push your progress.

• First of all checkout indigo_devel

You will discover that the devel branch doesn't have any launch file and some files are missing (msg, launch) and the CMakeLists.txt is not complete. Let's work on that:

Missing file stereo_crop_decimate.launch

• Download stereo_crop_decimate.launch from here.
• mkdir -p ~/catkin_ws/src/stereo_slam/launch/modules
• copy the launch file inside stereo_slam/launch/modules

Missing messages

• You can download them from here
• Place them inside /catkin_ws/src/stereo-slam/msg/
• Add the following line to your CMakeLists.txt. Just right above the Dependencies section

## Declare ROS messages and services
add_message_files(FILES SlamInfo.msg SlamVertex.msg SlamEdge.msg Correction.msg GraphData.msg)
generate_messages(DEPENDENCIES std_msgs)

Missing Launch File

Copy the following lines and place it in catkin_ws/src/stereo_slam/stereo.launch

<launch>

    <!--Setup Bagfile-->
    <arg name="bagfile" default="/home/user/catkin_ws/bag/stereo.bag"/>

    <!--Setup Camera-->
    <arg name="camera" default="/camera_comp_wide/" />
    <param name="/use_sim_time" value="true"/>

    <!--Play Bagfile-->
    <node pkg="rosbag" type="play" name="rosbag" args="--clock $(arg bagfile)"/>

    <!-- Run the stereo image proc -->
    <node ns="$(arg camera)" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc" />

    <include file="$(find stereo_slam)/launch/modules/stereo_crop_decimate.launch" >
        <arg name="stereo" value="$(arg camera)" />
    </include>

    <node ns="$(arg camera)/scaled" pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc" >
    </node>

    <node pkg="viso2_ros" type="stereo_odometer" name="stereo_odometer">
        <remap from="stereo" to="$(arg camera)"/>
        <remap from="image" to="image_rect"/>
        <param name="base_link_frame_id" value="$(arg camera)"/>
    </node>

    <!-- Stereo SLAM -->
    <node pkg="stereo_slam" type="localization" name="stereo_slam" output="screen">

      <!-- Working directory -->
      <param name="work_dir" value="/home/user/catkin_ws/src/stereo_slam/data" />

      <param name="odom_topic" value="/stereo_odometer/odometry" />
      <param name="camera_topic" value="$(arg camera)" />

    </node>

</launch>

Please let me know if that helped. Also if you are able to reconstruct or get the graph_viewer running, tell me.

[yanming-zou]

Hi Solbach,

Your input is very helpful. The program can run on my side, but there is still one issue.

I can't view the topic /graph_camera_odometry in rViz, the reason is that the frame_id is empty.

I am not sure what the reason is. Does it work well on your side?

BTW, it is really appreciated if you can share a input bag file with me. Thanks a lot

Yanming

[solbach]

Hey,
you can use this bag file to test it. But since it is form rtabmap_ros and uses different topics, you need to change the name of the topics stereo_slam is listening to.

Cheers