Orb_slam2: Camera only rotates w/o translation and point clouds is not showing on Map Viewer

[thezest76]

Dear raulmur,

I hope you could save me from this misery. I've been stuck here for more than 8 hours now...

I am running ORB_SLAM2 on one of the ROS bag files from TUM benchmark datasets( rgbd_dataset_freiburg2_pioneer_slam.bag )

What I am seeing on Map Viewer is that a increasing number of "blue camera" in the same position.
The Map Viewer is not showing any point cloud data...

ORB-SLAM2:Current Frame Window looks fine though. I see a bunch of ORB feature extracts/disappears as the frame changes.
Could please tell me what am I doing wrong here ?
My launch file is attached below

< launch>

< node name="RGBD" pkg="ORB_SLAM2" type="RGBD" output="screen" args="/home/myname/OpenSW/ORB_SLAM2/Vocabulary/ORBvoc.txt  /home/myname/OpenSW/ORB_SLAM2/Examples/RGB-D/TUM1.yaml" >

    < remap from="camera/depth_registered/image_raw"     to="camera/depth/image" />
    < remap from="camera/rgb/image_raw"                           to="camera/rgb/image_color" />

< /node>

< launch>

[thezest76]

Setting DepthMapFactor to 1 of TUM yalm file solved this problem