{"action":"created","issue":{"url":"https://api.github.com/repos/srv/stereo_slam/issues/3","labels_url":"https://api.github.com/repos/srv/stereo_slam/issues/3/labels{/name}","comments_url":"https://api.github.com/repos/srv/stereo_slam/issues/3/comments","events_url":"https://api.github.com/repos/srv/stereo_slam/issues/3/events","html_url":"https://github.com/srv/stereo_slam/issues/3","id":98685945,"number":3,"title":"Reconstruction.yaml missing from stereo slam package","user":{"login":"tonystark12","id":4528392,"avatar_url":"https://avatars.githubusercontent.com/u/4528392?v=3","gravatar_id":"","url":"https://api.github.com/users/tonystark12","html_url":"https://github.com/tonystark12","followers_url":"https://api.github.com/users/tonystark12/followers","following_url":"https://api.github.com/users/tonystark12/following{/other_user}","gists_url":"https://api.github.com/users/tonystark12/gists{/gist_id}","starred_url":"https://api.github.com/users/tonystark12/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tonystark12/subscriptions","organizations_url":"https://api.github.com/users/tonystark12/orgs","repos_url":"https://api.github.com/users/tonystark12/repos","events_url":"https://api.github.com/users/tonystark12/events{/privacy}","received_events_url":"https://api.github.com/users/tonystark12/received_events","type":"User","site_admin":false},"labels":[],"state":"open","locked":false,"assignee":null,"milestone":null,"comments":12,"created_at":"2015-08-03T07:15:14Z","updated_at":"2015-08-29T03:38:05Z","closed_at":null,"body":"I am trying to use a stereo slam package,and by following the instructions, I completed the installation. I am trying to run this slam with drcsim Atlas bot, spawned in a gazebo vrc task environment.\r\n\r\nNow, by editing the demo.launch file of the package, I can link the stereo_slam package to subscribe to topics which provide with the stereo pair of images. The edited launch file\r\n\r\n        <launch>\r\n\r\n\t<arg name=\"bagfile\" default=\"/tmp/ROS.bag\"/>\r\n\r\n\t<!-- Setup the camera -->\r\n\t<arg name=\"camera\" default=\"/multisense_sl/camera/\"/>\r\n\t<param name=\"/use_sim_time\" value=\"true\"/>\r\n\r\n\t<!-- Play the bagfile -->\r\n\t<node pkg=\"rosbag\" type=\"play\" name=\"rosbag\" args=\"--clock $(arg bagfile)\"/>\r\n\r\n\t<!-- Run the stereo image proc -->\r\n\t<group ns=\"$(arg camera)\">\r\n\t\t<node pkg=\"stereo_image_proc\" type=\"stereo_image_proc\" name=\"stereo_image_proc\" />\r\n\t</group>\r\n\r\n\t<!-- Run the visual odometry: You can choose between viso2 and fovis -->\r\n\t<node pkg=\"viso2_ros\" type=\"stereo_odometer\" name=\"stereo_odometer\">\r\n\t\t<remap from=\"stereo\" to=\"$(arg camera)\"/>\r\n\t\t<remap from=\"image\" to=\"image_color\"/>\r\n\t\t<param name=\"base_link_frame_id\" value=\"/pelvis\"/>\r\n\t</node>\r\n\t<!--node pkg=\"fovis_ros\" type=\"stereo_odometer\" name=\"fovis\">\r\n\t\t<remap from=\"stereo\" to=\"$(arg camera)\"/>\r\n\t\t<remap from=\"image\" to=\"image_color\"/>\r\n\t\t<param name=\"base_link_frame_id\" value=\"/pelvis\"/>\r\n\t</node-->\r\n\r\n\t<!-- Stereo SLAM -->\r\n\t<node pkg=\"stereo_slam\" type=\"localization\" name=\"slam\" output=\"screen\">\r\n\r\n\t\t<!-- Working directory -->\r\n\t\t<param name=\"work_dir\" value=\"/home/tonystark/freelancing/Atlas_slam/slam/\" />\r\n\r\n\t\t<!-- Topic parameters -->\r\n\t\t<param name=\"odom_topic\" value=\"stereo_odometer/odometry\"/>\r\n\t\t<param name=\"left_topic\" value=\"$(arg camera)/left/image_color\"/>\r\n\t\t<param name=\"right_topic\" value=\"$(arg camera)/right/image_color\"/>\r\n\t\t<param name=\"left_info_topic\" value=\"$(arg camera)/left/camera_info\"/>\r\n\t\t<param name=\"right_info_topic\" value=\"$(arg camera)/right/camera_info\"/>\r\n\r\n\t\t<!-- Min displacement between graph vertices (in meters) -->\r\n\t\t<param name=\"min_displacement\" value=\"0.25\"/>\r\n\r\n\t\t<!-- Descriptor type: SIFT or SURF -->\r\n\t\t<param name=\"desc_type\" value=\"SIFT\"/>\r\n\r\n\t\t<!-- Can be \"CROSSCHECK\" or \"RATIO\" -->\r\n\t\t<param name=\"desc_matching_type\" value=\"CROSSCHECK\"/>\r\n\r\n\t\t<!-- Descriptor threshold for crosscheck matching (typically between 0.7-0.9) or ratio for ratio matching (typically between 0.6-0.8).  -->\r\n\t\t<param name=\"desc_thresh_ratio\" value=\"0.88\" />\r\n\r\n\t\t<!-- Minimum number of neighbors that will be skiped for the loop closure (tipically between 5-20, but depends on the frame rate) -->\r\n\t\t<param name=\"min_neighbor\" value=\"10\" />\r\n\r\n\t\t<!-- Get the n first candidates of the hash matching (tipically between 1-5) -->\r\n\t\t<param name=\"n_candidates\" value=\"5\" />\r\n\r\n\t\t<!-- Minimun number of descriptor matches to consider a matching as possible loop closure (>8) -->\r\n\t\t<param name=\"min_matches\" value=\"30\" />\r\n\r\n\t\t<!-- Minimum number of inliers to consider a matching as possible loop closure (>8) -->\r\n\t\t<param name=\"min_inliers\" value=\"15\" />\r\n\r\n\t\t<!-- Set to 0 for LinearSlam Solver with gauss-newton. Set to 1 for LinearSlam Solver with Levenberg -->\r\n\t\t<param name=\"g2o_algorithm\" value=\"0\" />\r\n\r\n\t\t<!-- Maximum number of iteration for the g2o algorithm -->\r\n\t\t<param name=\"g2o_opt_max_iter\" value=\"10\" />\r\n\t</node>\r\n\r\n\t<!-- Pointcloud collector -->\r\n\t<node pkg=\"stereo_slam\" type=\"collector\" name=\"collector\" output=\"screen\">\r\n\r\n\t\t<param name=\"work_dir\" value=\"/home/tonystark/freelancing/Atlas_slam/slam/\" />\r\n\r\n\t\t<param name=\"graph_topic\" value=\"slam/graph\"/>\r\n\t\t<param name=\"cloud_topic\" value=\"$(arg camera)/scaled/points2\"/>\r\n\r\n\t\t<rosparam file=\"$(find stereo_slam)/etc/reconstruction.yaml\" />\r\n\r\n\t</node>\r\n\r\n</launch>\r\n\r\nWhen executing \r\n\r\n        roslaunch stereo_slam demo.launch\r\n\r\nI get the following error\r\n\r\n        error loading <rosparam> tag: \r\n\tfile does not exist [/home/tonystark/lib_haloc/src/stereo_slam/etc/reconstruction.yaml]\r\n        XML is <rosparam file=\"$(find stereo_slam)/etc/reconstruction.yaml\"/>\r\n        The traceback for the exception was written to the log file\r\n\r\nUpon searching, neither directory /etc nor the file **reconstruction.yaml** exited. Has anybody made use of this package? If yes, can you please tell me how to solve this? Is it a file and folder I should create by myself? Thanks in advance\r\n"},"comment":{"url":"https://api.github.com/repos/srv/stereo_slam/issues/comments/135935528","html_url":"https://github.com/srv/stereo_slam/issues/3#issuecomment-135935528","issue_url":"https://api.github.com/repos/srv/stereo_slam/issues/3","id":135935528,"user":{"login":"solbach","id":1814970,"avatar_url":"https://avatars.githubusercontent.com/u/1814970?v=3","gravatar_id":"","url":"https://api.github.com/users/solbach","html_url":"https://github.com/solbach","followers_url":"https://api.github.com/users/solbach/followers","following_url":"https://api.github.com/users/solbach/following{/other_user}","gists_url":"https://api.github.com/users/solbach/gists{/gist_id}","starred_url":"https://api.github.com/users/solbach/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/solbach/subscriptions","organizations_url":"https://api.github.com/users/solbach/orgs","repos_url":"https://api.github.com/users/solbach/repos","events_url":"https://api.github.com/users/solbach/events{/privacy}","received_events_url":"https://api.github.com/users/solbach/received_events","type":"User","site_admin":false},"created_at":"2015-08-29T03:38:05Z","updated_at":"2015-08-29T03:38:05Z","body":"Hey,\r\nyou can use [this bag file](https://docs.google.com/uc?export=download&confirm=ldd7&id=0B46akLGdg-uaOWtYT1ladldiS0U) to test it. But since it is form [rtabmap_ros](http://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorMapping) and uses different topics, you need to change the name of the topics stereo_slam is listening to.\r\n\r\n Cheers"}}