Kimera_VIO_ROS mono with euroc dataset is not working properly

[skarthikbe96]

Description:
I have installed Kimera-VIO-ROS properly on Ubuntu 20.0 ROS1 noetic. Wen I am trying to run the euroc dataset with mono setting it is not able to publish any mesh or odometry trajectory. I have attached the screenshot of the rviz output

I need to test Kimera VIO using the Intel RealSense D435i camera, configured with the mono setting. Specifically, I will be using the /camera/color/image_raw topic for the image data.

Command:

roslaunch kimera_vio_ros kimera_vio_ros_euroc_mono.launch 

rosbag play V1_01_easy.bag --clock

Console output:

roslaunch kimera_vio_ros kimera_vio_ros_euroc_mono.launch 
... logging to /home/student/.ros/log/59fa7fa6-2e5c-11ef-bb46-dbbb7155b57a/roslaunch-student-ThinkPad-L14-Gen-3-586742.log
Checking log directory for disk usage. This may take a while.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://student-ThinkPad-L14-Gen-3:36183/

SUMMARY
========

PARAMETERS
 * /gt_accel_bias: [-0.012492, 0.547...
 * /gt_gyro_bias: [-0.002229, 0.020...
 * /kimera_vio_ros/kimera_vio_ros_node/base_link_frame_id: base_link
 * /kimera_vio_ros/kimera_vio_ros_node/bow_batch_size: 1
 * /kimera_vio_ros/kimera_vio_ros_node/bow_skip_num: 1
 * /kimera_vio_ros/kimera_vio_ros_node/force_same_image_timestamp: True
 * /kimera_vio_ros/kimera_vio_ros_node/image_transport: raw
 * /kimera_vio_ros/kimera_vio_ros_node/left_cam_frame_id: cam0
 * /kimera_vio_ros/kimera_vio_ros_node/log_gt_data: False
 * /kimera_vio_ros/kimera_vio_ros_node/map_frame_id: map
 * /kimera_vio_ros/kimera_vio_ros_node/mono_ransac_threshold: 30
 * /kimera_vio_ros/kimera_vio_ros_node/odom_frame_id: odom
 * /kimera_vio_ros/kimera_vio_ros_node/online_run: True
 * /kimera_vio_ros/kimera_vio_ros_node/params_folder_path: /home/student/sla...
 * /kimera_vio_ros/kimera_vio_ros_node/position_det_threshold: 0.3
 * /kimera_vio_ros/kimera_vio_ros_node/publish_vlc_frames: True
 * /kimera_vio_ros/kimera_vio_ros_node/right_cam_frame_id: cam1
 * /kimera_vio_ros/kimera_vio_ros_node/robot_id: 0
 * /kimera_vio_ros/kimera_vio_ros_node/sensor_params_folder_path: 
 * /kimera_vio_ros/kimera_vio_ros_node/stereo_ransac_threshold: 20
 * /kimera_vio_ros/kimera_vio_ros_node/use_external_odom: False
 * /kimera_vio_ros/kimera_vio_ros_node/use_lcd: False
 * /kimera_vio_ros/kimera_vio_ros_node/use_lcd_registration_server: False
 * /kimera_vio_ros/kimera_vio_ros_node/use_rviz: True
 * /kimera_vio_ros/kimera_vio_ros_node/velocity_det_threshold: 0.1
 * /kimera_vio_ros/posegraph_viewer/frame_id: map
 * /rosdistro: noetic
 * /rosversion: 1.16.0
 * /use_sim_time: True

NODES
  /
    rviz (rviz/rviz)
  /kimera_vio_ros/
    kimera_vio_ros_node (kimera_vio_ros/kimera_vio_ros_node)
    posegraph_viewer (pose_graph_tools/visualizer_node)

ROS_MASTER_URI=http://localhost:11311

process[kimera_vio_ros/kimera_vio_ros_node-1]: started with pid [586767]
process[kimera_vio_ros/posegraph_viewer-2]: started with pid [586768]
process[rviz-3]: started with pid [586769]
[ INFO] [1718817760.953624123]: Initializing pose graph visualizer
[ INFO] [1718817761.075962285]: BoW vector batch size: 1
[ INFO] [1718817761.076449610]: BoW vector skip num: 1
[ INFO] [1718817761.076458729]: Publish VLC frames: 1
I0619 19:22:41.079500 586767 RosOnlineDataProvider.cpp:43] Waiting for ROS time to be valid... 
(Sim Time is enabled; run rosbag with --clock argument)
I0619 19:22:46.316115 586767 RosOnlineDataProvider.cpp:61] Requested initialization from ground-truth. Initializing ground-truth odometry one-shot subscriber.
W0619 19:22:46.316130 586767 RosOnlineDataProvider.cpp:64] Waiting for ground-truth pose to initialize VIO on ros topic: /kimera_vio_ros/gt_odom
E0619 19:22:56.315166 586767 RosOnlineDataProvider.cpp:85] Missing ground-truth pose while trying for 10.0012 seconds.
Enabling autoInitialize and continuing without ground-truth pose.
I0619 19:22:56.332108 586767 RegularVioBackend.cpp:115] Using Regular VIO Backend.
I0619 19:22:56.332170 586767 PipelineModule.h:451] MISO Pipeline Module: Display has no output queue registered.
I0619 19:22:56.332280 586767 Pipeline.cpp:352] Pipeline Modules launched (parallel_run set to 1).
W0619 19:22:56.332294 586767 Pipeline.h:183] Attempt to register LCD/PGO callback, but no LoopClosureDetector member is active in pipeline.
I0619 19:22:56.332474 586857 Pipeline.cpp:102] Spinning Kimera-VIO.
I0619 19:22:56.482712 586767 KimeraVioRos.cpp:205] Statistics
-----------	                                      #	log hz	{avg +- std}	[min, max]	last
data_provider_left_frame_queue Size [#]   	         1	8.8	{1.0 +- 0.0}	[1.0, 1.0]	1.0
I0619 19:22:56.534837 586857 DataProviderModule.cpp:48] Data Provider waiting for IMU data newer than 1.40372e+09 [s] for the latest frame. This can be a normal occurrence, but may signify something is wrong if the frontend isn't producing any output
I0619 19:22:56.570318 586852 VioBackend.h:182] ------------------- Initialize Pipeline: timestamp = 1403715281912143000--------------------
W0619 19:22:56.570348 586852 InitializationFromImu.cpp:25] InitializationFromImu: assumes that the vehicle is stationary and upright along some axis,and gravity vector is along a single axis!
I0619 19:22:56.594014 586857 DataProviderModule.cpp:48] Data Provider waiting for IMU data newer than 1.40372e+09 [s] for the latest frame. This can be a normal occurrence, but may signify something is wrong if the frontend isn't producing any output
I0619 19:22:56.643934 586857 DataProviderModule.cpp:48] Data Provider waiting for IMU data newer than 1.40372e+09 [s] for the latest frame. This can be a normal occurrence, but may signify something is wrong if the frontend isn't producing any output
I0619 19:22:57.482762 586767 KimeraVioRos.cpp:205] Statistics
-----------	                                      #	log hz	{avg +- std}	[min, max]	last
Display [ms]                              	         9	8.6	{2.7 +- 7.6}	[0.0, 23.0]0.0
VioBackend [ms]                           	         5	4.8	{0.2 +- 0.4}	[0.0, 1.0]	1.0
VioFrontend Frame Rate [ms]               	        14	16.3	{5.4 +- 2.3}	[2.0, 9.0]	7.0
VioFrontend Keyframe Rate [ms]            	         4	5.2	{26.2 +- 1.7}	[24.0, 28.0]24.0
VioFrontend [ms]                          	        19	16.9	{10.6 +- 9.3}	[2.0, 28.0]7.0
Visualizer [ms]                           	         5	4.8	{0.0 +- 0.0}	[0.0, 0.0]	0.0
backend_input_queue Size [#]              	         5	4.8	{1.0 +- 0.0}	[1.0, 1.0]	1.0
data_provider_left_frame_queue Size [#]   	        21	18.8	{1.0 +- 0.0}	[1.0, 1.0]	1.0
display_input_queue Size [#]              	         9	8.6	{1.0 +- 0.0}	[1.0, 1.0]	1.0
frontend_input_queue Size [#]             	        19	17.0	{1.0 +- 0.0}	[1.0, 1.0]	1.0
visualizer_backend_queue Size [#]         	         5	4.8	{1.0 +- 0.0}	[1.0, 1.0]	1.0
visualizer_frontend_queue Size [#]        	         5	4.8	{1.0 +- 0.0}	[1.0, 1.0]	1.0
I0619 19:22:58.482702 586767 KimeraVioRos.cpp:205] Statistics
-----------	                                      #	log hz	{avg +- std}	[min, max]	last
Display [ms]                              	        19	9.3	{1.3 +- 5.3}	[0.0, 23.0]0.0
VioBackend [ms]                           	        10	4.9	{0.9 +- 1.2}	[0.0, 4.0]	1.0
VioFrontend Frame Rate [ms]               	        29	15.6	{5.6 +- 2.2}	[2.0, 9.0]	7.0
VioFrontend Keyframe Rate [ms]            	         9	5.1	{26.9 +- 2.0}	[24.0, 31.0]27.0
VioFrontend [ms]                          	        39	18.3	{11.0 +- 9.4}	[2.0, 31.0]7.0
Visualizer [ms]                           	        10	4.9	{0.0 +- 0.0}	[0.0, 0.0]	0.0
backend_input_queue Size [#]              	        10	4.9	{1.0 +- 0.0}	[1.0, 1.0]	1.0
data_provider_left_frame_queue Size [#]   	        41	19.4	{1.0 +- 0.0}	[1.0, 1.0]	1.0
display_input_queue Size [#]              	        19	9.3	{1.0 +- 0.0}	[1.0, 1.0]	1.0
frontend_input_queue Size [#]             	        39	18.4	{1.0 +- 0.0}	[1.0, 1.0]	1.0
visualizer_backend_queue Size [#]         	        10	4.9	{1.0 +- 0.0}	[1.0, 1.0]	1.0
visualizer_frontend_queue Size [#]        	        10	4.9	{1.0 +- 0.0}	[1.0, 1.0]	1.0
I0619 19:22:59.482786 586767 KimeraVioRos.cpp:205] Statistics
-----------	                                      #	log hz	{avg +- std}	[min, max]	last
Display [ms]                              	        29	9.5	{0.8 +- 4.3}	[0.0, 23.0]0.0
VioBackend [ms]                           	        15	4.9	{1.1 +- 1.1}	[0.0, 4.0]	2.0
VioFrontend Frame Rate [ms]               	        44	15.4	{5.1 +- 2.2}	[1.0, 9.0]	3.0
VioFrontend Keyframe Rate [ms]            	        14	5.0	{25.5 +- 3.6}	[17.0, 31.0]25.0
VioFrontend [ms]                          	        59	18.9	{10.3 +- 9.2}	[1.0, 31.0]3.0
Visualizer [ms]                           	        15	4.9	{0.0 +- 0.0}	[0.0, 0.0]	0.0
backend_input_queue Size [#]              	        15	4.9	{1.0 +- 0.0}	[1.0, 1.0]	1.0
data_provider_left_frame_queue Size [#]   	        61	19.6	{1.0 +- 0.0}	[1.0, 1.0]	1.0
display_input_queue Size [#]              	        29	9.5	{1.0 +- 0.0}	[1.0, 1.0]	1.0
frontend_input_queue Size [#]             	        59	18.9	{1.0 +- 0.0}	[1.0, 1.0]	1.0
visualizer_backend_queue Size [#]         	        15	4.9	{1.0 +- 0.0}	[1.0, 1.0]	1.0
visualizer_frontend_queue Size [#]        	        15	4.9	{1.0 +- 0.0}	[1.0, 1.0]	1.0
I0619 19:23:00.482618 586767 KimeraVioRos.cpp:205] Statistics
-----------	                                      #	log hz	{avg +- std}	[min, max]	last
Display [ms]                              	        39	9.7	{0.6 +- 3.7}	[0.0, 23.0]0.0
VioBackend [ms]                           	        20	4.9	{1.4 +- 1.2}	[0.0, 4.0]	4.0
VioFrontend Frame Rate [ms]               	        59	15.3	{4.8 +- 2.2}	[1.0, 9.0]	4.0
VioFrontend Keyframe Rate [ms]            	        19	5.0	{24.1 +- 4.2}	[17.0, 31.0]20.0
VioFrontend [ms]                          	        79	19.2	{9.7 +- 8.8}	[1.0, 31.0]4.0
Visualizer [ms]                           	        20	4.9	{0.0 +- 0.0}	[0.0, 0.0]	0.0
backend_input_queue Size [#]              	        20	5.0	{1.0 +- 0.0}	[1.0, 1.0]	1.0
data_provider_left_frame_queue Size [#]   	        81	19.7	{1.0 +- 0.0}	[1.0, 1.0]	1.0
display_input_queue Size [#]              	        39	9.6	{1.0 +- 0.0}	[1.0, 1.0]	1.0
frontend_input_queue Size [#]             	        79	19.2	{1.0 +- 0.0}	[1.0, 1.0]	1.0
visualizer_backend_queue Size [#]         	        20	4.9	{1.0 +- 0.0}	[1.0, 1.0]	1.0
visualizer_frontend_queue Size [#]        	        20	5.0	{1.0 +- 0.0}	[1.0, 1.0]	1.0
^C[rviz-3] killing on exit

Additional files:
Please attach all the files needed to reproduce the error.

Please give also the following information:

• KimeraVIO branch, tag or commit used : 9274124d
• GTSAM version used: 4.2a9
• OpenGV version used:
• OpenCV version used: 4.2.0
• Operating system and version (e.g. Ubuntu 16.04 or Windows 10): Ubuntu
• Did you change the source code? (yes / no): No

[HesamTaherzadeh]

I also am facing the same issue, why is it asking for the groundtruth

[tianyilim]

You need to edit the BackendParams.yaml file. This should be found in ~/catkin_ws/src/Kimera-VIO/params/Euroc/BackendParams.yaml

Set autoInitialize: 1.

Then you don't need to provide a GT Odom source for initialization.