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Sophus ensure failed in function 'static Sophus::SO3<Scalar_> Sophus::SO3<Scalar_, Options>::expAndTheta(const Tangent&, Sophus::SO3<Scalar_, Options>::Scalar*) [with Scalar_ = double; int Options = 0; Sophus::SO3<Scalar_, Options>::Tangent = Eigen::Matrix<double, 3, 1>; Sophus::SO3<Scalar_, Options>::Scalar = double]', file '/root/catkin_ws/src/basalt_ros/basalt/thirdparty/basalt-headers/thirdparty/Sophus/sophus/so3.hpp', line 619.
SO3::exp failed! omega: nan nan nan, real: nan, img: nan

I am getting this error on running this with docker in ROS1, while launching vio.launch. I checked my calbration values and i dont see what the issue is. Does sophus have an upgraded version which solves this issue? Or if you know what this could be, can you suggest an idea how to fix this?

Thank you!

Regards,
Aishwarya

Starting >>> basalt_ros
[Processing: basalt_ros]
[Processing: basalt_ros]
--- stderr: basalt_ros
CMakeFiles/vio_utils.dir/build.make:82: *** target pattern contains no '%'. Stop.
make[1]: *** [CMakeFiles/Makefile2:336: CMakeFiles/vio_utils.dir/all] Error 2
make[1]: *** Waiting for unfinished jobs....
CMakeFiles/test_subscriber.dir/build.make:97: *** target pattern contains no '%'. Stop.
make[1]: *** [CMakeFiles/Makefile2:228: CMakeFiles/test_subscriber.dir/all] Error 2
CMakeFiles/get_calibration.dir/build.make:82: *** target pattern contains no '%'. Stop.
make[1]: *** [CMakeFiles/Makefile2:282: CMakeFiles/get_calibration.dir/all] Error 2
/usr/bin/ld: warning: libopencv_imgcodecs.so.4.2, needed by /opt/ros/foxy/lib/libcv_bridge.so, may conflict with libopencv_imgcodecs.so.4.5
/usr/bin/ld: warning: libopencv_imgproc.so.4.2, needed by /opt/ros/foxy/lib/libcv_bridge.so, may conflict with libopencv_imgproc.so.4.5
/usr/bin/ld: warning: libopencv_core.so.4.2, needed by /opt/ros/foxy/lib/libcv_bridge.so, may conflict with libopencv_core.so.4.5
make: *** [Makefile:141: all] Error 2

Failed <<< basalt_ros [1min 24s, exited with code 2]

how to fix this problem, or please give me some kind of guidance, which can help me.

when I published imu data and run "ros2 launch basalt_ros vio_composed_t265.launch.py" I got this problem

Are the steps for usage similar to ROS1? I plan to use this repo for ROS2 humble, and the how to use is under progress in the read me. It would be great to know if its similar to ROS1 or not so that i can try it out myself :)

Thanks,
Aishwarya

I'm launching the vio_frontend_node with this section:

    ld.add_action(Node(
        package='basalt_ros',
        executable='vio_frontend_node',
        output='screen',
        name='vio_frontend',
        namespace='basalt',
        parameters=[{'calibration_file': basalt_ros_pkg + "/config/basalt_d435i_calibration_60hz.json",
                     'vio_config_file': basalt_ros_pkg + "/config/basalt_vio_config.json",
                     'world_frame_id':'world',
                     'odom_frame_id':'vio_odom',
                     'debug_vio':False}],
    ))

and I'm getting this error:

[vio_frontend_node-1] terminate called after throwing an instance of 'rclcpp::exceptions::ParameterAlreadyDeclaredException'
[vio_frontend_node-1]   what():  parameter 'calibration_file' has already been declared

The same for backend node. Do I have to pass the calibration_file in a different way?

when I published camera images and info and ran the "ros2 launch basalt_ros vio_composed_t265.launch.py" I got this error