成功编译之后,基本上所有问题都可能是文件路径引起的。
官方github文档中没有说清楚,他只说了改model的路径和Vocabulary的路径。
DS_SLAM_TUM.launch中的所有文件的路径都要改成绝对路径,从根目录写起,像这样
<launch>
<!-- orb slam -->
<node pkg="ORB_SLAM2_PointMap_SegNetM" name="TUM" type="TUM" args="
/home/cs/catkin_ws/src/DS-SLAM/Examples/ROS/ORB_SLAM2_PointMap_SegNetM/Vocabulary/ORBvoc.bin
$(find ORB_SLAM2_PointMap_SegNetM)/TUM3.yaml /home/cs/CS/dataset/rgbd_dataset_freiburg3_walking_xyz
/home/cs/CS/dataset/rgbd_dataset_freiburg3_walking_xyz/associate.txt /home/cs/catkin_ws/src/DS-SLAM/Examples/ROS/ORB_SLAM2_PointMap_SegNetM/prototxts/segnet_pascal.prototxt
/home/cs/catkin_ws/src/DS-SLAM/Examples/ROS/ORB_SLAM2_PointMap_SegNetM/models/segnet_pascal.caffemodel /home/cs/catkin_ws/src/DS-SLAM/Examples/ROS/ORB_SLAM2_PointMap_SegNetM/tools/pascal.png" output="screen" />
<!-- Run other launch file -->
<include file="$(find ORB_SLAM2_PointMap_SegNetM)/launch/Octomap.launch" />
<include file="$(find ORB_SLAM2_PointMap_SegNetM)/launch/transform.launch" />
<node pkg="rviz" name="rviz" type="rviz" />
</launch>