"build_catkin.sh" success but cannot launch file

[Jason-Lee0]

First,thanks for you supply the code.

I want to redo your source code,but I use the command build_catkin.sh success.

It didn't make any error,and I think it is successful.

After it, I run the code.

roslaunch orb-slam2_ros realsense_rgbd.launch

The result always said the launch file cannot found ,how do i supposed to do? I ran source devel/setup.sh either,but still not working.

Can you tell how to run the launch file?

Thanks,and sorry to bother you. Have a nice day.

[Jason-Lee0]

Sorry I ran source devel/setup.bash .It's working!

But there is a new problem. The result said cannot found :orb-slam2

What do I do? Sorry to bother you.

[rayvburn]

If you are trying to run the package on ROS Melodic then I can't really help as I tested it only on ROS Kinetic. But the problem seems to be related with some environment variable, which is not being extended and package files are actually not found. You may check, whether ROS_PACKAGE_PATH contains package's build folder ($WORKSPACE_MAIN_DIR/build/{and so on}). You may find this link helpful.

[Rutwik87]

I am getting the same error. I am using ROS Kinetic though. Any help would be appreciated. It shows some cmake error as seen in screenshot that Cmakelist.txt file is missing. But then rest process finishes without any error. But on launching the node it shows error of resource not found: orb_slam2

[rayvburn]

ORB_SLAM2 directory does not contain CMakeLists.txt file and indeed this is a desired fact. The CMake Error you posted is really new to me.

First, are you able to find liborb_slam2_lib.so file at /usr/local/lib? If no, try to find such file in the ${YOUR_WORKSPACE_DIR}/devel/lib and extend ROS_PACKAGE_PATH with the path pointing to liborb_slam2_lib.so in your computer. Having the ROS_PACKAGE_PATH set correctly, try to run the launch like you did before. Also, which launch file do you use?

[Rutwik87]

liborb_slam2_lib.so is present in usr/local/lib directory. Also tried to point ROS_PACKAGE_PATH to liborb_slam2_lib.so but same error persists. I tried to launch realsense_rgbd.launch file. But same error for other launch files too.

[Rutwik87]

Ok. The issue was in the launch file of realsense. It is trying to launch orb_slam2 instead of orb_slam2_ros. So changing the same solves the issue and it launches successfully . So maybe this issue can be closed now. But now I am encountering a new error saying : [ERROR] [1617819275.181126176]: Updated camera pose published after 1617819264.000 Also none of the topics of orb slam are publishing any data.