DS-SLAM DS_SLAM_TUM.launch报错，或者Rviz不出语义图

最新推荐文章于 2025-05-09 15:51:37 发布

原创最新推荐文章于 2025-05-09 15:51:37 发布 · 625 阅读

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#ubuntu #slam

本文详细介绍了如何正确配置DS-SLAM_TUM.launch文件中的路径参数，包括model、Vocabulary等文件的绝对路径设置，确保SLAM系统的稳定运行。

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>