Segmentation fault (Address not mapped to object [(nil)])

[dromero12]

Hi! I'm trying to run a test but I'm getting this error around CAM_NAMES in all the tentatives (using realsense manager). The topic related to imu, camera1 and camera2 are being published correctly. I noticed that in the 'development' branch the realsense_node launch file was removed from vins_estimator launch folder, there is something I should do to replicate the results? Also the launch file mentioned in the readme 'fisheye_split.launch' doesn't exist in the repo and even with the provided bag file errors appears. What version or branch should I use to see the results by using the bag file?

#1 Source "catkin_ws/src/VINS-Fisheye/vins_estimator/src/fisheyeNode.cpp", line 504, in Init [0x7f8a6748cf0e] 501: std::cout << "config file is " << config_file << '\n'; 502: readParameters(config_file); 503: > 504: estimator.setParameter(); 505: 506: ROS_INFO("Will %d GPU", USE_GPU); 507: if (ENABLE_DEPTH) { #0 Source "catkin_ws/src/VINS-Fisheye/vins_estimator/src/estimator/estimator.cpp", line 60, in setParameter [0x7f8a6720bc88] 57: g = G; 58: cout << "set g " << g.transpose() << endl; 59:
> 60: featureTracker->readIntrinsicParameter(CAM_NAMES); 61: 62: processThread = std::thread(&Estimator::processMeasurements, this); 63: if (FISHEYE && ENABLE_DEPTH) { Segmentation fault (Address not mapped to object [(nil)])

[xuhao1]

You may try this launch file to make it work with Realsense. https://github.com/xuhao1/VINS-Fisheye/blob/master/vins_estimator/launch/pinhole.launch