Segmentation fault (Address not mapped to object [(nil)])

[dromero12]

Hi! I'm trying to run a test but I'm getting this error around CAM_NAMES in all the tentatives (using realsense manager). The topic related to imu, camera1 and camera2 are being published correctly. I noticed that in the 'development' branch the realsense_node launch file was removed from vins_estimator launch folder, there is something I should do to replicate the results? Also the launch file mentioned in the readme 'fisheye_split.launch' doesn't exist in the repo and even with the provided bag file errors appears. What version or branch should I use to see the results by using the bag file?

#1 Source "catkin_ws/src/VINS-Fisheye/vins_estimator/src/fisheyeNode.cpp", line 504, in Init [0x7f8a6748cf0e]
501: std::cout << "config file is " << config_file << '\n';
502: readParameters(config_file);
503:
> 504: estimator.setParameter();
505:
506: ROS_INFO("Will %d GPU", USE_GPU);
507: if (ENABLE_DEPTH) {
#0 Source "catkin_ws/src/VINS-Fisheye/vins_estimator/src/estimator/estimator.cpp", line 60, in setParameter [0x7f8a6720bc88]
57: g = G;
58: cout << "set g " << g.transpose() << endl;
59:
> 60: featureTracker->readIntrinsicParameter(CAM_NAMES);
61:
62: processThread = std::thread(&Estimator::processMeasurements, this);
63: if (FISHEYE && ENABLE_DEPTH) {
Segmentation fault (Address not mapped to object [(nil)])

[xuhao1]

You may try this launch file to make it work with Realsense.
https://github.com/xuhao1/VINS-Fisheye/blob/master/vins_estimator/launch/pinhole.launch