启动vins节点的时候，一直卡在这一步，waiting for image and imu

shenbh

amov@amov:~$ rosrun vins vins_node ~/VINS_FUSION/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml
[ INFO] [1710214328.713401810]: init begins
config_file: /home/amov/VINS_FUSION/src/VINS-Fusion/config/realsense_d435i/realsense_stereo_imu_config.yaml
USE_IMU: 1
IMU_TOPIC: /camera/imu
result path /home/amov/p230_output//vio.csv
[ WARN] [1710214328.729539790]:  Optimize extrinsic param around initial guess!
camera number 2
[ INFO] [1710214328.733526292]: Unsynchronized sensors, online estimate time offset, initial td: -0.01
[ INFO] [1710214328.733651927]: ROW: 480 COL: 640
exitrinsic cam 0
    0.999983   0.00394061  -0.00437714
-0.00394358     0.999992 -0.000669051
  0.00437447  0.000686301      0.99999
0.00717965  0.0039532  0.0148614
exitrinsic cam 1
    0.999979   0.00384186   -0.0052645
-0.00384542     0.999992 -0.000666007
  0.00526191  0.000686237     0.999986
0.0563405 0.00415269  0.0170197
set g     0     0 9.805
[ INFO] [1710214328.734398596]: reading paramerter of camera /home/amov/VINS_FUSION/src/VINS-Fusion/config/realsense_d435i/left.yaml
[ INFO] [1710214328.735180434]: reading paramerter of camera /home/amov/VINS_FUSION/src/VINS-Fusion/config/realsense_d435i/right.yaml
MULTIPLE_THREAD is 1
[ WARN] [1710214328.735855837]: waiting for image and imu...
启动vins节点的时候，一直卡在这一步，waiting for image and imu

我知道答案 回答被采纳将会获得3 阿木币 已有3人回答

goodQ

我觉得本质上是一个通信的问题，报错提示等待image和imu的信息。这个报错是个应用层的报错信息，从传输到网络层，物理层，逐步排查报错吧。vins节点没接收到摄像头的信息，比如查看一下是否线没接好等等

polaris

哈喽，请问你的问题解决了吗