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Added support for ROS2 Jazzy and Ubuntu 24.04 #500

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Added support for ROS2 Jazzy and Ubuntu 24.04 #500

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@nathanshankar nathanshankar commented Apr 17, 2025

  • Addressed segmentation faults caused by the latest Ceres version on Ubuntu 24.04
  • Added support for ROS2 Jazzy by fixing header includes and adjustments in the ros2visualizer module
  • config files D455 Stereo Mode: Using stereo IR streams + IMU.
  • config files D455 Mono Mode: Using mono RGB + IMU.
    image

nathanshankar and others added 4 commits April 16, 2025 17:06
@nathanshankar
modified: ov_init/src/ceres/State_JPLQuatLocal.h
517b767 
	modified:   ov_msckf/src/ros/ROS2Visualizer.h
	modified:   ov_msckf/src/ros/ROSVisualizerHelper.h
@nathanshankar
Update ReadMe.md
acb12cc
@nathanshankar
support for ros2 jazzy on ubuntu 24.04
7dfc1fc
@nathanshankar
new file: config/rs_d455_mono/estimator_config.yaml
1698e25 
	new file:   config/rs_d455_mono/kalibr_imu_chain.yaml
	new file:   config/rs_d455_mono/kalibr_imucam_chain.yaml
	renamed:    config/rs_d455/launch_d455.example -> config/rs_d455_mono/launch_d455.example
	renamed:    config/rs_d455/estimator_config.yaml -> config/rs_d455_stereo/estimator_config.yaml
	renamed:    config/rs_d455/kalibr_imu_chain.yaml -> config/rs_d455_stereo/kalibr_imu_chain.yaml
	renamed:    config/rs_d455/kalibr_imucam_chain.yaml -> config/rs_d455_stereo/kalibr_imucam_chain.yaml
	new file:   config/rs_d455_stereo/launch_d455.example
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asimonov commented Apr 22, 2025

I can confirm I can build/run on ubuntu24/jazzy with these changes.

But for some reason with same sensor (Luxonis OAK-Pro-W) and same open_vins settings the initialisation does not work:

[run_subscribe_msckf-6] [init]: disparity is 0.069,0.045 (2.00 thresh)
[run_subscribe_msckf-6] [init]: failed static init: no accel jerk detected
[run_subscribe_msckf-6] [TIME]: 0.0048 seconds total (208.4 hz, 43.98 ms behind)

did anyone experience this?

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nathanshankar commented Apr 23, 2025

I can confirm I can build/run on ubuntu24/jazzy with these changes.

But for some reason with same sensor (Luxonis OAK-Pro-W) and same open_vins settings the initialisation does not work:

[run_subscribe_msckf-6] [init]: disparity is 0.069,0.045 (2.00 thresh)
[run_subscribe_msckf-6] [init]: failed static init: no accel jerk detected
[run_subscribe_msckf-6] [TIME]: 0.0048 seconds total (208.4 hz, 43.98 ms behind)

did anyone experience this?

Do you have a rosbag, so I can reproduce this?

@asimonov
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asimonov commented Apr 24, 2025

I traced the problem to change in Luxonis Oak-d-pro driver for ROS Jazzy: https://github.com/luxonis/depthai-ros/pull/696/files

Without new parameters IMU was running at 0.2 Hz and that was an issue for OpenVINS

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asimonov commented Apr 24, 2025

this PR works on Jazzy, BTW. I have tested

@goldbattle goldbattle closed this Nov 30, 2025
@goldbattle goldbattle reopened this Nov 30, 2025
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goldbattle commented Nov 30, 2025

Is it possible to make this backwards compatible? I know the older versions can't have these header changes.
For the ceres fix this PR has a compatible method so the older versions can still be supported. #520

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@nathanshankar @asimonov @goldbattle