The program stops immediately after running

[mark-91]

hi
i have author error
now i'm trying to run algorithm with d415 camera
in ubuntu 20.04
opencv == 4.5.2
ros= noetic

first i run roscore

then in terminal 2 i run roslaunch realsense2_camera rs_rgbd.launch

then i run roslaunch orbslam2_ros run_rgbd.launch

but i have this error

roslaunch orbslam2_ros run_rgbd.launch
... logging to /home/ai/.ros/log/05f1d352-f6f8-11ec-9320-dbb172fd40b3/roslaunch-ai-25803.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://ai:33741/

SUMMARY

PARAMETERS

• /orbslam2_rgbd/load_map: False
• /orbslam2_rgbd/localize_only: False
• /orbslam2_rgbd/map_file: map.bin
• /orbslam2_rgbd/publish_pointcloud: True
• /orbslam2_rgbd/publish_pose: True
• /orbslam2_rgbd/reset_map: False
• /rosdistro: noetic
• /rosversion: 1.15.14

NODES
/
orbslam2_rgbd (orbslam2_ros/RGBD)

ROS_MASTER_URI=http://localhost:11311

process[orbslam2_rgbd-1]: started with pid [25832]

ORB-SLAM2 Copyright (C) 2014-2016 Raul Mur-Artal, University of Zaragoza.
This program comes with ABSOLUTELY NO WARRANTY;
This is free software, and you are welcome to redistribute it
under certain conditions. See LICENSE.txt.

Input sensor was set to: RGB-D

Loading ORB Vocabulary. This could take a while...
Vocabulary loaded!

Camera Parameters:

• fx: 617.216
• fy: 616.526
• cx: 332.224
• cy: 238.905
• k1: 0
• k2: 0
• p1: 0
• p2: 0
• fps: 30
• color order: RGB (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

Depth Threshold (Close/Far Points): 2.2
[orbslam2_rgbd-1] process has died [pid 25832, exit code -11, cmd /home/ai/catkin_ws5/src/orb_slam2_cg/platforms/ros_wrapper/devel/lib/orbslam2_ros/RGBD /home/ai/catkin_ws5/src/orb_slam2_cg/Vocabulary/ORBvoc.txt /home/ai/catkin_ws5/src/orb_slam2_cg/platforms/app/RGB-D/Asus.yaml /camera/rgb/image_raw:=/camera/rgb/image_color /camera/depth_registered/image_raw:=/camera/depth/image __name:=orbslam2_rgbd __log:=/home/ai/.ros/log/05f1d352-f6f8-11ec-9320-dbb172fd40b3/orbslam2_rgbd-1.log].
log file: /home/ai/.ros/log/05f1d352-f6f8-11ec-9320-dbb172fd40b3/orbslam2_rgbd-1*.log
all processes on machine have died, roslaunch will exit
shutting down processing monitor...
... shutting down processing monitor complete
done

i changed yaml file to
%YAML:1.0

#--------------------------------------------------------------------------------------------

Camera Parameters. Adjust them!

#--------------------------------------------------------------------------------------------
Camera.type: "PinHole"

Camera calibration and distortion parameters (OpenCV)

Camera.fx: 617.2155151367188
Camera.fy: 616.5257568359375
Camera.cx: 332.2236633300781
Camera.cy: 238.90542602539062

Camera.k1: 0.0
Camera.k2: 0.0
Camera.p1: 0.0
Camera.p2: 0.0

Camera.width: 1280
Camera.height: 720

#Camera frames per second
Camera.fps: 30.0

#IR projector baseline times fx (aprox.)
Camera.bf: 33.9468533

#Color order of the images (0: BGR, 1: RGB. It is ignored if images are grayscale)
Camera.RGB: 1

#Close/Far threshold. Baseline times.
ThDepth: 40.0

#Deptmap values factor，将深度像素值转化为实际距离，原来单位是 mm，转化成 m
DepthMapFactor: 1000.0

#ORB Parameters
#--------------------------------------------------------------------------------------------

#ORB Extractor: Number of features per image
ORBextractor.nFeatures: 1000

#ORB Extractor: Scale factor between levels in the scale pyramid
ORBextractor.scaleFactor: 1.2

#ORB Extractor: Number of levels in the scale pyramid
ORBextractor.nLevels: 8

#ORB Extractor: Fast threshold
#Image is divided in a grid. At each cell FAST are extracted imposing a minimum response.
#Firstly we impose iniThFAST. If no corners are detected we impose a lower value minThFAST
#You can lower these values if your images have low contrast
ORBextractor.iniThFAST: 20
ORBextractor.minThFAST: 7

#--------------------------------------------------------------------------------------------
#Viewer Parameters
#--------------------------------------------------------------------------------------------
Viewer.KeyFrameSize: 0.05
Viewer.KeyFrameLineWidth: 1
Viewer.GraphLineWidth: 0.9
Viewer.PointSize:2
Viewer.CameraSize: 0.08
Viewer.CameraLineWidth: 3
Viewer.ViewpointX: 0
Viewer.ViewpointY: -0.7
Viewer.ViewpointZ: -1.8
Viewer.ViewpointF: 500

it work with ORB-SLAM3
and i have anthor orb-slam2-ros version from this link |
https://github.com/appliedAI-Initiative/orb_slam_2_ros
and the mono work with d415 by this command

roslaunch orb_slam2_ros orb_slam2_d435_mono.launch

...................
this video to how the error happened
https://drive.google.com/file/d/1cIZ7xsSqeDcETgA01QYVipBXra5cXgdE/view?usp=sharing