introlab
Rtabmap+VINS-Fusion+ROS2 Issue
I am trying to combine Rtabmap with VINS Fusion（ROS2 version）：https://github.com/fanhong-li/VINS-Fusion-ROS2-Humble in ROS2 (Humble) environment, but currently when compiling rtabmap with make -j4, the error is as follows:
In file included from /home/rtab_ws/src/rtabmap/corelib/src/odometry/OdometryVINS.cpp:39: /home/vins_ws/src/VINS-Fusion-ROS2/vins/src/estimator/estimator.h:14:10: fatal error: std_msgs/msg/header.h: 没有那个文件或目录 14 | #include <std_msgs/msg/header.h> | ^~~~~~~~~~~~~~~~~~~~~~~ compilation terminated. make[2]: *** [corelib/src/CMakeFiles/rtabmap_core.dir/build.make:1270：corelib/src/CMakeFiles/rtabmap_core.dir/odometry/OdometryVINS.cpp.o] 错误 1 make[2]: *** 正在等待未完成的任务.... make[1]: *** [CMakeFiles/Makefile2:867：corelib/src/CMakeFiles/rtabmap_core.dir/all] 错误 2 make: *** [Makefile:156：all] 错误 2
Is it because the ROS2 topic information cannot be made and compiled? Can you provide some solutions? Thanks a lots
Could you share the process of configuring VINS Fusion for Rtabmap? @NID299
I added an example here for ros2: https://github.com/introlab/rtabmap_ros/blob/9963bc06af8ffd852f2b944ea463c59d422debc2/rtabmap_examples/launch/realsense_d435i_stereo.launch.py#L10-L19
Basically, this patch https://gist.github.com/matlabbe/ebbb343cd744da9d6d6d6ded2e1557fd will setup the vins ros2 package so that its dependencies are correctly forwarded to rtabmap library with cmake.
