not working ros node on raspberry pi ros noetic

[zoldaten]

hi!
i`ve built successfully ROS node and try to start it:

-roscore
-roslaunch raspicam_node camerav2_320x240.launch
-rosrun stella_vslam_ros run_slam \
    -v /home/pi/stella_vslam/build/orb_vocab.fbow \
    -c /home/pi/stella_vslam/example/aist/fisheye.yaml \
    --map-db-out map.msg

also i start SockerViewer:

cd stella_vslam/viewer
node app.js

i see camera topics and it publish:

and i see that stella-vslam started OK:

but i do not see subscriber to camera/image_raw and nothing in browser.

stella-vslam is working OK when i use it by itself with example:
./run_video_slam -v ./orb_vocab.fbow -m ../aist_living_lab_1/video.mp4 -c ../example/aist/equirectangular.yaml --frame-skip 3 --no-sleep --map-db-out map.msg

i built ROS node with:
catkin_make -DUSE_PANGOLIN_VIEWER=OFF -DUSE_SOCKET_PUBLISHER=ON

i also tried to start in debug mode:

[2023-01-07 19:03:47.261] [D] CONSTRUCT: config
[2023-01-07 19:03:47.262] [I] config file loaded: /home/pi/stella_vslam/example/aist/fisheye.yaml
[2023-01-07 19:03:47.262] [D] CONSTRUCT: system
[2023-01-07 19:03:47.264] [I] 
original version of OpenVSLAM,
Copyright (C) 2019,
National Institute of Advanced Industrial Science and Technology (AIST)
All rights reserved.
stella_vslam (the changes after forking from OpenVSLAM),
Copyright (C) 2022, stella-cv, All rights reserved.

This is free software,
and you are welcome to redistribute it under certain conditions.
See the LICENSE file.
Camera:
  name: LUMIX DMC-GX8 8mm fisheye 1K
  setup: monocular
  model: fisheye
  fx: 170.84138379240443
  fy: 169.9406100762388
  cx: 149.54284186804765
  cy: 130.9111714963471
  k1: -0.3077284545147695
  k2: 0.0866060673680198
  k3: 0.001090392105903515
  k4: 0.0010837651871281884
  fps: 30.0
  cols: 320
  rows: 240
  color_order: RGB
Preprocessing:
  min_size: 800
Feature:
  name: default ORB feature extraction setting
  scale_factor: 1.2
  num_levels: 8
  ini_fast_threshold: 20
  min_fast_threshold: 7
Initializer:
  scaling_factor: 5.0
Mapping:
  baseline_dist_thr_ratio: 0.02
  redundant_obs_ratio_thr: 0.9
  num_covisibilities_for_landmark_generation: 20
  num_covisibilities_for_landmark_fusion: 20

[2023-01-07 19:03:47.266] [I] loading ORB vocabulary: /home/pi/stella_vslam/build/orb_vocab.fbow
[2023-01-07 19:03:47.425] [D] CONSTRUCT: camera::base
[2023-01-07 19:03:47.425] [D] CONSTRUCT: camera::fisheye
[2023-01-07 19:03:47.425] [D] compute image bounds
[2023-01-07 19:03:47.426] [I] load orb_params "default ORB feature extraction setting"
[2023-01-07 19:03:47.426] [D] CONSTRUCT: data::camera_database
[2023-01-07 19:03:47.427] [D] CONSTRUCT: data::map_database
[2023-01-07 19:03:47.427] [D] CONSTRUCT: data::bow_database
[2023-01-07 19:03:47.427] [D] CONSTRUCT: data::orb_params_database
[2023-01-07 19:03:47.430] [D] CONSTRUCT: publish::frame_publisher
[2023-01-07 19:03:47.430] [D] CONSTRUCT: publish::map_publisher
[2023-01-07 19:03:47.431] [D] CONSTRUCT: module::initializer
[2023-01-07 19:03:47.432] [D] CONSTRUCT: module::relocalizer
[2023-01-07 19:03:47.432] [D] CONSTRUCT: tracking_module
[2023-01-07 19:03:47.432] [D] CONSTRUCT: mapping_module
[2023-01-07 19:03:47.433] [D] load mapping parameters
[2023-01-07 19:03:47.433] [D] load monocular mappping parameters
[2023-01-07 19:03:47.433] [D] Use baseline_dist_thr_ratio: 0.02
[2023-01-07 19:03:47.433] [D] CONSTRUCT: loop_detector
[2023-01-07 19:03:47.433] [D] CONSTRUCT: global_optimization_module
[2023-01-07 19:03:47.433] [I] startup SLAM system
[2023-01-07 19:03:47.434] [I] start mapping module
[2023-01-07 19:03:47.434] [I] start global optimization module

but no result

[ymd-stella]

Provide the output of

• rostopic info /camera/image_raw
• rostopic hz /camera/image_raw
• rosnode info /run_slam

while running stella_vslam_ros run_slam.

[ymd-stella]

Please be careful not to throw personal questions into Issue. Asking a personal question is fine, but it is the wrong place to do it. Be sure to check if there is a place for questions.

[ymd-stella]

Since there was no lead to Discussions, I set the ISSUE_TEMPLATE.

[zoldaten]

ok. i started master and slam node:

bash -c "source /opt/ros/noetic/setup.bash; roscore"

bash -c "source /home/pi/catkin_ws/devel/setup.bash; rosrun stella_vslam_ros run_slam \
    -v /home/pi/stella_vslam/build/orb_vocab.fbow \
    -c /home/pi/stella_vslam/example/aist/fisheye.yaml \
    --map-db-out map.msg"

but do not see slam node started:

then i started raspicam node just for check:
bash -c "source /home/pi/catkin_ws/devel/setup.bash; roslaunch raspicam_node camerav2_320x240.launch"

i also do not see any connection to websocker server:

[ymd-stella]

If the node is not running, nothing will work.

Provide the results of the rosnode list.

[ymd-stella]

Stop providing commands and logs in images and provide them in text.

[zoldaten]

ok. it seems that slam node presents but not working:

pi@base:~ $ rosnode list
/rosout
/run_slam
pi@base:~ $ rostopic list
/rosout
/rosout_agg
pi@base:~ $ rosnode info /run_slam
--------------------------------------------------------------------------------
Node [/run_slam]
Publications: 
 * /rosout [rosgraph_msgs/Log]

Subscriptions: None

Services: 
 * /run_slam/get_loggers
 * /run_slam/set_logger_level


contacting node http://base:35775/ ...
Pid: 1118
Connections:
 * topic: /rosout
    * to: /rosout
    * direction: outbound (52167 - 127.0.0.1:60920) [12]
    * transport: TCPROS