Is kimera_vio supposed to be a ROS package?

[ruffsl]

In one of the core launch files, the path_to_vocab argument must be properly set:

Kimera-VIO-ROS/launch/kimera_vio_ros.launch

Line 36 in 6608e65

<arg name="path_to_vocab" default="$(find kimera_vio)/vocabulary/ORBvoc.yml"/>

Given the use of find directo to locate the path to the kimera_vio package directory, this assumes kimera_vio is a ROS package that includes such assets like the vocabulary folder. However, the kimera_vio doesn't register itself as a package, thus this find lookup fails to locate it.

[marcusabate]

Hello @ruffsl, thank you for your interest in Kimera! Kimera-VIO (builds as kimera_vio) does have a package.xml file in the root directory, allowing it to be built as a catkin package. In this case, the find command should work as expected.

If you've built Kimera-VIO system-wide instead of in your catkin workspace, you'll have to change that launch argument to an absolute path towards your install.

If you are building Kimera-VIO in your catkin workspace and the find command still isn't locating the package properly, please let us know and paste your full console output here.

[ruffsl]

If you are building Kimera-VIO in your catkin workspace and the find command still isn't locating the package properly, please let us know and paste your full console output here.

Sorry for the late reply, but if run a container using the image from the Dockerfile in #32 , then try to use rospkg find kimera_vio, it should return [rospack] Error: package 'kimera_vio' not found .

You could also pull the image I uploaded to dockerhub about the time I opened this issue:

$ docker run -it --rm ruffsl/kimera:ros bash
root@8d6cdea7e61f:/opt/ros_ws# ls ../overlay_ws/install/
COLCON_IGNORE             _local_setup_util_sh.py  kimera_vio        local_setup.ps1  local_setup.zsh  setup.ps1  setup.zsh
_local_setup_util_ps1.py  kimera_rpgo              local_setup.bash  local_setup.sh   setup.bash       setup.sh
root@8d6cdea7e61f:/opt/ros_ws# ls ../overlay_ws/install/kimera_vio/
include  lib  share
root@8d6cdea7e61f:/opt/ros_ws# rospack list | grep kimera
kimera_rviz_markers /opt/ros_ws/install/kimera_rviz_markers/share/kimera_rviz_markers
kimera_vio_ros /opt/ros_ws/install/kimera_vio_ros/share/kimera_vio_ros
root@8d6cdea7e61f:/opt/ros_ws# rospack find kimera_vio
[rospack] Error: package 'kimera_vio' not found