Unable to Generate Mesh with Kimera Semantics in Multi-Robot Setup

[DimitriosGkegkas]

Hello

I am currently working with the multi-robot dataset provided and am attempting to integrate Kimera Semantics and Kimera PGMO alongside Kimera VIO, Kimera Distributed, and Kimera DPGO. The latter components are functioning well together.

Firstly, I want to note that I have tested the single robot Kimera PGMO, and it works perfectly. I aim to achieve the same functionality for the multi-robot scenario, starting with a single robot again. However, I am encountering issues with generating the mesh.

Here is the architecture and launch sequence I am using:

    - roslaunch kimera_distributed kimera_distributed.launch robot_id:=0 robot_name:=acl_jackal num_robots:=2 dataset_name:=Jackal
    - roslaunch kimera_pgmo kimera_pgmo_robot.launch dataset:=Jackal robot_id:=0 robot_name:=acl_jackal num_robots:=2
    - roslaunch kimera_distributed dpgo.launch robot_id:=0 robot_name:=acl_jackal num_robots:=2 dataset_name:=Jackal multi_master:=false 
    - roslaunch kimera_multi kimera_vio_jackal.launch robot_name:=acl_jackal robot_id:=0 use_d455:=true multirobot:=true lcd_no_optimize:=true use_external_odom:=true replay:=true should_use_sim_time:=true
    - roslaunch kimera_distributed mit_rosbag.launch bagfile:="/home/dimitris/datasets/kimera/campus_outdoor_1014/10_14_acl_jackal.bag" input_ns:=acl_jackal output_ns:=acl_jackal
    - roslaunch kimera_semantics_ros kimera_semantics_jackal.launch dataset:=Jackal robot_id:=0 robot_name:=acl_jackal num_robots:=2 decompress_color:=true

I am attaching the rqt_graph, which I believe shows that everything is connected properly for the first robot (acl_jackal).

However, when I start the rosbag, I encounter the following error in the semantics (screenshot attached):

Additionally, nothing is ever published on the topic /acl_jackal/semantic_pointcloud.

I have traced the error message to the PointCloudFromDepth class, which is only used in the kimera_semantics_rosbag node. However, this node does not appear in the rosnode list (screenshot attached).

I am relatively new to debugging this type of setup, so I may be missing some crucial information. I would greatly appreciate any guidance you can provide.

Thank you for your help!

[RonghaiHe]

In kimera_semantics_euroc.launch, the depth image is no need. How about trying to just use stereo images?