Slam demo code does not work on Intel Joule 570 and ZR300

[RudyAramayo]

roslaunch realsense_ros_slam demo_slam.launch returns massive errors after careful installation of the SDK

[RudyAramayo]

rudy@Cerebro:~/catkin-ws$ roslaunch realsense_ros_slam demo_slam.launch
... logging to /home/rudy/.ros/log/cfe510e6-4610-11e7-87ee-5fdb6e35cfa9/roslaunch-Cerebro-23016.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://Cerebro:36103/

SUMMARY

PARAMETERS

• /realsense_ros_camera/accel_optical_frame_id: camera_accel_opti...
• /realsense_ros_camera/color_fps: 30
• /realsense_ros_camera/color_height: 480
• /realsense_ros_camera/color_optical_frame_id: camera_rgb_optica...
• /realsense_ros_camera/color_width: 640
• /realsense_ros_camera/depth_fps: 30
• /realsense_ros_camera/depth_height: 240
• /realsense_ros_camera/depth_optical_frame_id: camera_depth_opti...
• /realsense_ros_camera/depth_width: 320
• /realsense_ros_camera/enable_color: False
• /realsense_ros_camera/enable_depth: True
• /realsense_ros_camera/enable_fisheye: True
• /realsense_ros_camera/fisheye_fps: 30
• /realsense_ros_camera/fisheye_height: 480
• /realsense_ros_camera/fisheye_optical_frame_id: camera_fisheye_op...
• /realsense_ros_camera/fisheye_width: 640
• /realsense_ros_camera/gyro_optical_frame_id: camera_gyro_optic...
• /realsense_ros_camera/ir2_optical_frame_id: camera_ir2_optica...
• /realsense_ros_camera/ir_optical_frame_id: camera_ir_optical...
• /realsense_ros_camera/serial_no:
• /realsense_ros_slam/doi_max: 3.0
• /realsense_ros_slam/doi_min: 0.3
• /realsense_ros_slam/hoi_max: 0.1
• /realsense_ros_slam/hoi_min: -0.5
• /realsense_ros_slam/load_occupancy_map:
• /realsense_ros_slam/load_relocalization_map:
• /realsense_ros_slam/map_resolution: 0.05
• /realsense_ros_slam/occupancyFilename: occupancy_1019.bin
• /realsense_ros_slam/publish_odometry: True
• /realsense_ros_slam/relocalizationFilename: relocalization_10...
• /realsense_ros_slam/resolution: 0.1
• /realsense_ros_slam/topic_camera_pose: camera_pose
• /realsense_ros_slam/topic_map: map
• /realsense_ros_slam/topic_odom: odom
• /realsense_ros_slam/topic_pose2d: pose2d
• /realsense_ros_slam/topic_reloc_pose: reloc_pose
• /realsense_ros_slam/topic_tracking_accuracy: tracking_accuracy
• /realsense_ros_slam/trajectoryFilename: trajectory_1019.ppm
• /rosdistro: kinetic
• /rosversion: 1.12.7

NODES
/
base_link_to_camera_link (tf2_ros/static_transform_publisher)
map_to_odom (tf2_ros/static_transform_publisher)
odom_to_base_link (tf2_ros/static_transform_publisher)
realsense_ros_camera (nodelet/nodelet)
realsense_ros_camera_manager (nodelet/nodelet)
realsense_ros_slam (nodelet/nodelet)
rviz_demo (rviz/rviz)

auto-starting new master
process[master]: started with pid [23027]
ROS_MASTER_URI=http://localhost:11311

setting /run_id to cfe510e6-4610-11e7-87ee-5fdb6e35cfa9
process[rosout-1]: started with pid [23040]
started core service [/rosout]
process[realsense_ros_camera_manager-2]: started with pid [23050]
process[realsense_ros_camera-3]: started with pid [23057]
process[map_to_odom-4]: started with pid [23059]
process[base_link_to_camera_link-5]: started with pid [23061]
[ INFO] [1496242369.648666144]: Loading nodelet /realsense_ros_camera of type realsense_ros_camera/NodeletCamera to manager realsense_ros_camera_manager with the following remappings:
process[odom_to_base_link-6]: started with pid [23072]
[ INFO] [1496242369.692880185]: waitForService: Service [/realsense_ros_camera_manager/load_nodelet] has not been advertised, waiting...
process[rviz_demo-7]: started with pid [23080]
process[realsense_ros_slam-8]: started with pid [23094]
[ INFO] [1496242369.754064250]: Initializing nodelet with 4 worker threads.
[ INFO] [1496242369.765392071]: Loading nodelet /realsense_ros_slam of type realsense_ros_slam/SNodeletSlam to manager realsense_ros_camera_manager with the following remappings:
[ INFO] [1496242369.775596636]: waitForService: Service [/realsense_ros_camera_manager/load_nodelet] is now available.
[ INFO] [1496242370.174347861]: Intel RealSense ZR300, serial_no: 3481802485
[ INFO] [1496242370.836802280]: enabled depth stream, width: 320 height: 240 fps: 30
[ INFO] [1496242370.837147990]: enabled fisheye stream, width: 640 height: 480 fps: 30
[ INFO] [1496242370.837516159]: enabled accel and gyro stream
[FATAL] [1496242371.323547684]: Failed to load nodelet '/realsense_ros_slamof typerealsense_ros_slam/SNodeletSlamto managerrealsense_ros_camera_manager'
[FATAL] [1496242371.324044865]: Failed to load nodelet '/realsense_ros_cameraof typerealsense_ros_camera/NodeletCamerato managerrealsense_ros_camera_manager'
[realsense_ros_camera_manager-2] process has died [pid 23050, exit code -11, cmd /opt/ros/kinetic/lib/nodelet/nodelet manager __name:=realsense_ros_camera_manager __log:=/home/rudy/.ros/log/cfe510e6-4610-11e7-87ee-5fdb6e35cfa9/realsense_ros_camera_manager-2.log].
log file: /home/rudy/.ros/log/cfe510e6-4610-11e7-87ee-5fdb6e35cfa9/realsense_ros_camera_manager-2*.log
[realsense_ros_camera-3] process has died [pid 23057, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load realsense_ros_camera/NodeletCamera realsense_ros_camera_manager --no-bond __name:=realsense_ros_camera __log:=/home/rudy/.ros/log/cfe510e6-4610-11e7-87ee-5fdb6e35cfa9/realsense_ros_camera-3.log].
log file: /home/rudy/.ros/log/cfe510e6-4610-11e7-87ee-5fdb6e35cfa9/realsense_ros_camera-3*.log
[realsense_ros_slam-8] process has died [pid 23094, exit code 255, cmd /opt/ros/kinetic/lib/nodelet/nodelet load realsense_ros_slam/SNodeletSlam realsense_ros_camera_manager __name:=realsense_ros_slam __log:=/home/rudy/.ros/log/cfe510e6-4610-11e7-87ee-5fdb6e35cfa9/realsense_ros_slam-8.log].
log file: /home/rudy/.ros/log/cfe510e6-4610-11e7-87ee-5fdb6e35cfa9/realsense_ros_slam-8*.log

[mingfeisun]

Hi RudyAramayo,
I came cross the same problem with ZR300. Did you solved it?
Thanks

[chinitaberrio]

@mingfeisun I fixed the error, nevertheless it's not working.
To fix the error above:
Delete the folder /realsense_ros_camera
Create a folder called /realsense_camera which should contain: https://github.com/intel-ros/realsense/tree/indigo-devel/realsense_camera
Edit the launch file demo_slam.launch:

<launch>
  <arg name="manager" default="realsense_ros_camera_manager"/>
  <arg name="load_relocalization_map" default=""/>
  <arg name="load_occupancy_map"      default=""/>    
  <include file="$(find realsense_camera)/launch/zr300_nodelet_rgdb.launch">
    <arg name="enable_fisheye" value="true"/>
    <arg name="depth_width" value="320"/>
    <arg name="depth_height" value="240"/>
  </include>
  <include file="$(find realsense_ros_slam)/launch/setup_demo.launch">
    <arg name="manager" value="$(arg manager)"/>
    <arg name="load_relocalization_map" value="$(arg load_relocalization_map)"/>
    <arg name="load_occupancy_map" value="$(arg load_occupancy_map)"/>
  </include>
</launch>

catkin_make

roslaunch realsense_ros_slam demo_slam.launch

Everything launches properly, but I can't see any result :(