ROS2 humble

[bonabai]

Any hints on building this on ROS2 humble? I was getting some constraints to run it on Ubuntu 22.04 which ROS2 humble is the supported ROS version.

I tried naively building it though getting some weird error about "rclcpp::Duration(0)"

error: no matching function for call to ‘rclcpp::Duration::Duration(int)’

Thanks in advance!

[bonabai]

Actually I think I might have a quick fix for it:
If in ROS2 humble, just replace it with the following:
rclcpp::Duration::from_seconds(0);

Not sure if I should do a PR or just leave this ticket open for others.

[mzahana]

Hi @bonabai Have you successfully used VINS FUSION with ROS 2 humble ?

[bonabai]

Yes, though loop fusion might need some adjustment. Mohamed Abdelkader Zahana ***@***.***>于2023年6月12日 周一下午7:49写道：

…

Hi @bonabai <https://github.com/bonabai> Have you successfully used VINS FUSION with ROS 2 humble ? — Reply to this email directly, view it on GitHub <#8 (comment)>, or unsubscribe <https://github.com/notifications/unsubscribe-auth/A7C2QMHJGPNTUAQVMIYZDY3XK364ZANCNFSM6AAAAAAYGZBW3Q> . You are receiving this because you were mentioned.Message ID: ***@***.***>

[mzahana]

Can you please share the modifications needed to run it with ros humble?

Thanks @bonabai

[bonabai]

Try this one: https://github.com/bonabai/VINS-Fusion-ROS2.git, and checkout no_cuda branch.
Let me know if you run into any error message.

[luohongk]

@bonabai I faced with the same problems with you .Have you solved it?

[bonabai]

@bonabai I faced with the same problems with you .Have you solved it?

Try rclcpp::Duration::from_seconds(0); and let me know if you still run into errors.

[cvirxsc]

您能否与 ros humble 分享运行它所需的修改？

谢谢

can you manage to run with ros2 humble?or how can i convert this package to humble version?
Thanks!

[bonabai]

@cvirxsc Try this one: https://github.com/bonabai/VINS-Fusion-ROS2.git, and checkout no_cuda branch.
Let me know if you run into any error message.

[cvirxsc]

@cvirxsc Try this one: https://github.com/bonabai/VINS-Fusion-ROS2.git, and checkout no_cuda branch. Let me know if you run into any error message.

Thanks! I will try to run within one day ,and then turn to you for help.

[cvirxsc]

@bonabai
I build it with lots of warnings,but it's finished.And then I run three commands,with last one I meet the error.

could you please tell me how can i solve it?
Thanks!

[cvirxsc]

@bonabai And the warning during the build process as follows:

[tulingcheng86]

@bonabai并且构建过程中的警告如下：

HELLO!Have you successfully run through vinsfusion-humble?

[cvirxsc]

@tulingcheng86 I can't see your picture

[tulingcheng86]

我看不到你的照片

That's the picture of the error you ran above, and I got the same error as you, but I was able to run it. Tested it with the euroc dataset and it ran successfully