MISTLab
No Loop Closure Happening
Hi, I am trying to run Swarm SLAM on real robot/s. So I connected realsense camera D435I and changed the real_senses file to run rs_launch instead of multi launch one and modified it to run the device D435i it runs succesfully.
I am getting data on camera/color/image_raw but not on r0/color/image_raw
But after Initilization Done which is printed by clsam_map_manager after initilization of map manager, camera and loop closure detection I don't see any data coming through. I looked into the code cslam loop closure detection is waiting for a neighbor to join and then update itself but I was looking at the internal loop closure the issue is that there is nothing being published on the keyframe topic. What am I missing ?
The screenshot is attached for your kind reference.
Appreciate your help. Thanks
