i try to connect the Tello_node,py

the problem is when i use TELLO EDU apps or Tello apps , i connect to my dji then at the same time i already connected to ROS, then i hit take off on APPS ,then it take off, but when i run the tello-node.ph script which i use rosrun, the script cant connect to my drone, it failed. Is there any suggestion in term of apps like the same apps that you use? Or any alternative to fix my problem like any other script?

my plan is to record the rosbag at the same time i control using apps

i got problem with the catkin_make and catkin build
the orb_slam3_wrapper is on catkin_build but the OAFD_Monocular package on catkin_make

when i run slam.launch in order to do slam, i got problem it says that my orb_slam3_wrapper is missing. how do i fix this?

非常感谢您开源的OAFD‍算法，我安装了双系统，买了一台tello，环境安装好了，程序跑起来以后发现坐标系好像有问题，就是tello向前运动的时候，rviz里是在向天上运动，点云也是在朝天空的方向，请问是我哪里设置的不对吗？麻烦了，耽误您的宝贵时间！

Loading ORB Vocabulary. This could take a while...
Traceback (most recent call last):
File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/get_odom.py", line 5, in
import ros_numpy
File "/opt/ros/noetic/lib/python3/dist-packages/ros_numpy/init.py", line 7, in
from . import point_cloud2
File "/opt/ros/noetic/lib/python3/dist-packages/ros_numpy/point_cloud2.py", line 224, in
def get_xyz_points(cloud_array, remove_nans=True, dtype=np.float):
File "/home/arief/.local/lib/python3.8/site-packages/numpy/init.py", line 305, in getattr
Traceback (most recent call last):
File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/depthmap_calibration.py", line 9, in
raise AttributeError(former_attrs[attr])
from simple_tf import *
AttributeError: module 'numpy' has no attribute 'float'.
np.float was a deprecated alias for the builtin float. To avoid this error in existing code, use float by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use np.float64 here.
The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at:
https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/simple_tf.py", line 6, in

import ros_numpy

File "/opt/ros/noetic/lib/python3/dist-packages/ros_numpy/init.py", line 7, in
from . import point_cloud2
File "/opt/ros/noetic/lib/python3/dist-packages/ros_numpy/point_cloud2.py", line 224, in
def get_xyz_points(cloud_array, remove_nans=True, dtype=np.float):
File "/home/arief/.local/lib/python3.8/site-packages/numpy/init.py", line 305, in getattr
raise AttributeError(former_attrs[attr])
AttributeError: module 'numpy' has no attribute 'float'.
np.float was a deprecated alias for the builtin float. To avoid this error in existing code, use float by itself. Doing this will not modify any behavior and is safe. If you specifically wanted the numpy scalar type, use np.float64 here.
The aliases was originally deprecated in NumPy 1.20; for more details and guidance see the original release note at:
https://numpy.org/devdocs/release/1.20.0-notes.html#deprecations
[pcd_pub-2] process has died [pid 10928, exit code 1, cmd /home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/depthmap_calibration.py __name:=pcd_pub __log:=/home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/pcd_pub-2.log].
log file: /home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/pcd_pub-2*.log
[odom_pub-3] process has died [pid 10929, exit code 1, cmd /home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/get_odom.py __name:=odom_pub __log:=/home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/odom_pub-3.log].
log file: /home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/odom_pub-3*.log
Vocabulary loaded!

Creation of new map with id: 0
Creation of new map with last KF id: 0
Seq. Name:

Camera Parameters:

• Camera: Pinhole
• fx: 910.072
• fy: 914.094
• cx: 485.523
• cy: 336.718
• k1: -0.005941
• k2: 0.055161
• p1: -0.006094
• p2: 0.003192
• fps: 20
• color order: BGR (ignored if grayscale)

ORB Extractor Parameters:

• Number of Features: 1000
• Scale Levels: 8
• Scale Factor: 1.2
• Initial Fast Threshold: 20
• Minimum Fast Threshold: 7
  Framebuffer with requested attributes not available. Using available framebuffer. You may see visual artifacts.
  (ORB-SLAM3: Current Frame:10927): Gtk-ERROR *: 16:37:00.038: GTK+ 2.x symbols detected. Using GTK+ 2.x and GTK+ 3 in the same process is not supported
  [orb_slam3_mono-1] process has died [pid 10927, exit code -5, cmd /home/arief/FYPworkspaces/tello_ros1_ws/devel/lib/orb_slam3_ros_wrapper/orb_slam3_ros_wrapper_mono __name:=orb_slam3_mono __log:=/home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/orb_slam3_mono-1.log].
  log file: /home/arief/.ros/log/46d8b71c-1a6b-11ef-9e37-8949fe58c0f8/orb_slam3_mono-1.log
  [ WARN] [1716626229.934427833]: No transform between frames /map and /camera available after 20.118962 seconds of waiting. This warning only prints once.

Hi @geturin,

After I ran roslaunch oafd ego_tello.launch command, it gave me below output.What is the reason for that?

What changes in the code are required if I try it on DSO instead of ORB-SLAM3?

i got a problem with pat_following.py

Traceback (most recent call last):
File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/simple_tf.py", line 29, in get_transformation
self.transformation = self.tf_buffer.lookup_transform(self.target_frame,
File "/opt/ros/noetic/lib/python3/dist-packages/tf2_ros/buffer.py", line 90, in lookup_transform
return self.lookup_transform_core(target_frame, source_frame, time)
tf2.LookupException: "tello" passed to lookupTransform argument target_frame does not exist.

During handling of the above exception, another exception occurred:

Traceback (most recent call last):
File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/path_following.py", line 78, in
tello_origin = tf_linster.transform_pose(origin)
File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/simple_tf.py", line 47, in transform_pose
self.get_transformation()
File "/home/arief/FYPworkspaces/catkin_ws_OAFD/src/OAFD_Monocular/src/simple_tf.py", line 33, in get_transformation
rospy.logerr('Unable to find the transformation from %s to %s'
TypeError: not enough arguments for format string

my steps that i produce this error :

1. Record bag files
2. Launch Tello_node.py
3. Stop bag files
   4.Disconnect Tello
4. Start roslaunch oafd slam.launch
5. Play bag file
6. Ctrl+c (stop) after doing orb slam
7. Connect to tello back.
8. run rosrun oafd path_following.py
9. Error

I'm having trouble reproducing your project, can you help me take a look? This error occurs when midas is installed, when I run the command "./do_catkin_make.sh", it gives the following error: CMake Error at midas_cpp/CMakeLists.txt:56 (find_package):
By not providing "FindTorch.cmake" in CMAKE_MODULE_PATH this project has
asked CMake to find a package configuration file provided by "Torch", but
CMake did not find one.

Hi @geturin great work,

I am trying to convert midas depth to pointcloud but unable to i can see subscribe topi where i replaced it with my topic but i am not using orbslam3 instead i am using openvins where i have slam points

Secondly if you have depth why not to use depth directly instead of pointcloud.

thankyou

ude/FrameDrawer.h:24,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Viewer.h:23,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Tracking.h:26,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/System.h:31,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/orb_slam3_ros_wrapper/include/common.h:27,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/orb_slam3_ros_wrapper/src/mono_node.cc:7:
/home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/ImuTypes.h:29:10: fatal error: sophus/se3.hpp: No such file or directory
29 | #include <sophus/se3.hpp>
| ^~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono.dir/build.make:63: CMakeFiles/orb_slam3_ros_wrapper_mono.dir/src/mono_node.cc.o] Error 1
make[2]: *** Waiting for unfinished jobs....
In file included from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Frame.h:30,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/KeyFrame.h:28,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/MapPoint.h:23,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/FrameDrawer.h:24,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Viewer.h:23,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Tracking.h:26,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/System.h:31,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/orb_slam3_ros_wrapper/include/common.h:27,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/orb_slam3_ros_wrapper/src/common.cc:7:
/home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/ImuTypes.h:29:10: fatal error: sophus/se3.hpp: No such file or directory
29 | #include <sophus/se3.hpp>
| ^~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/build.make:76: CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/src/common.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:1543: CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/all] Error 2
In file included from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Frame.h:30,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/KeyFrame.h:28,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/MapPoint.h:23,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/FrameDrawer.h:24,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Viewer.h:23,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/Tracking.h:26,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/System.h:31,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/orb_slam3_ros_wrapper/include/common.h:27,
from /home/arief/FYPworkspaces/tello_ros1_ws/src/orb_slam3_ros_wrapper/src/common.cc:7:
/home/arief/FYPworkspaces/tello_ros1_ws/src/ORB_SLAM3/include/ImuTypes.h:29:10: fatal error: sophus/se3.hpp: No such file or directory
29 | #include <sophus/se3.hpp>
| ^~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono.dir/build.make:76: CMakeFiles/orb_slam3_ros_wrapper_mono.dir/src/common.cc.o] Error 1
make[1]: *** [CMakeFiles/Makefile2:814: CMakeFiles/orb_slam3_ros_wrapper_mono.dir/all] Error 2
make: *** [Makefile:141: all] Error 2
cd /home/arief/FYPworkspaces/tello_ros1_ws/build/orb_slam3_ros_wrapper; catkin build --get-env orb_slam3_ros_wrapper | catkin env -si /usr/bin/make --jobserver-auth=3,4; cd -

got an error when trying to build orb slam3 wrapper

Hello, thank you to the author for such an outstanding job, he is truly amazing. But when I'm reproducing your project.
At this step:
cd ~/catkin_ws/src/orb_slam3_ros_wrapper/
nano CMakeLists.txt

Change this to your installation of ORB-SLAM3. Default is ~/

set(ORB_SLAM3_DIR
$ENV{HOME}/ORB_SLAM3
)
Build the package normally.
cd ~/catkin_ws/
catkin build
Something went wrong.
The error report is: /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/common.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/mono_inertial_node.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono.dir/build.make:76：CMakeFiles/orb_slam3_ros_wrapper_mono.dir/src/common.cc.o] 错误 1
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/build.make:76：CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/src/common.cc.o] 错误 1
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/build.make:63：CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/src/mono_inertial_node.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1543：CMakeFiles/orb_slam3_ros_wrapper_mono_inertial.dir/all] 错误 2
make[1]: *** 正在等待未完成的任务....
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/rgbd_node.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_rgbd.dir/build.make:63：CMakeFiles/orb_slam3_ros_wrapper_rgbd.dir/src/rgbd_node.cc.o] 错误 1
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/common.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_stereo.dir/build.make:76：CMakeFiles/orb_slam3_ros_wrapper_stereo.dir/src/common.cc.o] 错误 1
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/common.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/mono_node.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_rgbd.dir/build.make:76：CMakeFiles/orb_slam3_ros_wrapper_rgbd.dir/src/common.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1651：CMakeFiles/orb_slam3_ros_wrapper_rgbd.dir/all] 错误 2
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/stereo_node.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_mono.dir/build.make:63：CMakeFiles/orb_slam3_ros_wrapper_mono.dir/src/mono_node.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:814：CMakeFiles/orb_slam3_ros_wrapper_mono.dir/all] 错误 2
make[2]: *** [CMakeFiles/orb_slam3_ros_wrapper_stereo.dir/build.make:63：CMakeFiles/orb_slam3_ros_wrapper_stereo.dir/src/stereo_node.cc.o] 错误 1
make[1]: *** [CMakeFiles/Makefile2:1138：CMakeFiles/orb_slam3_ros_wrapper_stereo.dir/all] 错误 2
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/stereo_inertial_node.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
| ^~~~~~~~~~~~~~~~~~
compilation terminated.
In file included from /home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/src/common.cc:7:
/home/oem/orb_slam3_ros_wrapper/src/orb_slam3_ros_wrapper/include/common.h:27:10: fatal error: include/System.h: 没有那个文件或目录
27 | #include "include/System.h"
.
The cmake.list I set is:# Change this to your installation of ORB-SLAM3. Default is ~/
set(/home/oem/ORB_SLAM3
).
How should I solve this problem.