process died (exit code -11)

[Davidpereira2803]

Hello, I have been trying to use orb_slam3_ros, but I encounter this problem when running some examples.

I tried NTU VIRAL, EuRoC and TUM-VI datasets and all give me the same error message, when I run them. When I run this command roslaunch orb_slam3_ros ntuviral_mono.launch the Rviz interface opens and I get this message in the console:

Camera 0 is pinhole
Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.Starting the Viewer
[orb_slam3-2] process has died [pid 156, exit code -11, cmd /home/david/catkin_ws/devel/lib/orb_slam3_ros/ros_mono /camera/image_raw:=/left/image_raw __name:=orb_slam3 __log:=/home/david/.ros/log/67e35d76-dd4b-11ed-b03e-00155d3ffca5/orb_slam3-2.log].
log file: /home/david/.ros/log/67e35d76-dd4b-11ed-b03e-00155d3ffca5/orb_slam3-2.log*

If I then proceed and run the bag file the raw camera footage is shown on Rviz but the slam footage is not show at all.

Thank you in advance

[thien94]

Hi @Davidpereira2803,

I have not encountered this error before, but it seems to be solvable according to this thread abhineet123/ORB_SLAM2#20

In this case, you can try commenting out these two lines https://github.com/thien94/orb_slam3_ros/blob/master/CMakeLists.txt#L12-L13, recompile and see if it works.

Hope this helps.

[Davidpereira2803]

Hi thank you for your prompt response,

I tried it but it gives me the same problem. Do you have any other possible solution?

Thank you,
David

[thien94]

Just for clarification, does the original ORB-SLAM3 work for you https://github.com/UZ-SLAMLab/ORB_SLAM3 ?

Another user has found that the issue is related to the Ubuntu version and OpenCV version #4 (comment) If possible, you can try to reinstall OpenCV first and see if it helps. Otherwise, using Ubuntu 20.04 is the most reliable solution for now.

[Davidpereira2803]

ORB_SLAM3 works fine on my computer I can run the examples and the SLAM works.

Plus I am actually using Ubuntu 20.04

[thien94]

Hi @Davidpereira2803 , sorry for the late reply.

Do you still face this issue? After some searching, I think the problem might be that certain Pangolin driver is not working correctly on some systems. See here stevenlovegrove/Pangolin#549

As a workaround, you can try to

• disable the Pangolin viewer by setting this param to false
• use this version of the wrapper + original ORB-SLAM3 (although most likely the same issue will happen at some point)

[Davidpereira2803]

Hi @thien94, I installed everything from scratch (ubuntu + orb_slam_ros) and installed everything correctly, and I did not encounter the problem at all. Thank you for your time.

[mgrallos]

Hi @Davidpereira2803 , sorry for the late reply.

Do you still face this issue? After some searching, I think the problem might be that certain Pangolin driver is not working correctly on some systems. See here stevenlovegrove/Pangolin#549

As a workaround, you can try to

• disable the Pangolin viewer by setting this param to false
• use this version of the wrapper + original ORB-SLAM3 (although most likely the same issue will happen at some point)

Hi I tried setting the param to false but the still persist when I try to run the rosbag file

[joejep]

Hi @thien94, I installed everything from scratch (ubuntu + orb_slam_ros) and installed everything correctly, and I did not encounter the problem at all. Thank you for your time.

I tried the rosbag it works but when i use the realsense camera it doesnt work

(ORB-SLAM3: Current Frame:3458): dbind-WARNING **: 23:59:02.750: Couldn't connect to accessibility bus: Failed to connect to socket /tmp/dbus-zZfEqBIV32: Connection refused
Gtk-Message: 23:59:02.800: Failed to load module "canberra-gtk-module"
Gtk-Message: 23:59:02.803: Failed to load module "canberra-gtk-module"
Starting the Viewer
[ WARN] [1701215962.073774523]: No transform between frames /world and /imu available after 20.004147 seconds of waiting. This warning only prints once.

[Ab-Tx]

Related to #4

I had this issue solved by cloning https://github.com/ros-perception/vision_opencv/tree/noetic (noetic branch) into the /src folder.

An answer at #4 is similar but clones a fork (of the repo I just linked) that gives me an issue with a "boost_python3" package.

To sump up:
cd src
git clone https://github.com/ros-perception/vision_opencv.git -b noetic