when I run the command which is "ros2 launch vins_estimator euroc.launch.py" throw an error

[midskymid]

[pose_graph-2] terminate called after throwing an instance of 'rclcpp::exceptions::InvalidTopicNameError'
[pose_graph-2] what(): Invalid topic name: topic name must not be empty string:
[pose_graph-2] ''
[pose_graph-2] ^
[pose_graph-2]

could you please tell me how to fix the problem? thank u so much!

[dongbo19]

It seems that the pose_graph is receiving an empty topic. I think there are two methods to try to solve this issue:

1. Check whether the topics that pose_graph needs to subscribe to are being correctly published. This part of the code can be found in the main function of pose_graph_node.cpp.
2. Alternatively, you can comment out the pose_graph_node in euroc.launch.py so that pose_graph does not run. Instead, only run vins_estimator to see if the system operates normally.

[midskymid]

I have solved this problem...this part of codes which lead to the error can be found in the main function of pose_graph_node.cpp...
std::string IMAGE_TOPIC;
you set the topic name in "if (LOOP_CLOSURE)", if someone who does not use the "LOOP CLOSURE", IMAGE_TOPIC will be null...

[dongbo19]

@midskymid , thank you for your response. I checked the original code, and it was written this way, so I didn’t modify this part in order to stay as consistent with the original code as possible. I set LOOP_CLOSURE to 0, and I encountered the same error in my environment. However, this seems to only affect the pose_graph node (which should be normal, as setting LOOP_CLOSURE to 0 means disabling the loop closure part) and does not impact the normal operation of the vins_estimator node.