CudaFrame:: Failed to copy mvuRight to gpu: invalid argument, status code: 1

[Mike17K]

Hello i have setup and launching the setup with the bellow :

  orb_slam3_22_humble_nvidia:
    extends:
      file: docker/ORB-SLAM3-ROS2-Docker/docker-compose.yml
      service: orb_slam3_22_humble_nvidia
    environment:
      - ROS_DOMAIN_ID=55
      - CYCLONEDDS_URI=file:///cyclonedds.xml
      - RMW_IMPLEMENTATION=rmw_cyclonedds_cpp 
    ipc: host
    volumes:
      - /tmp:/tmp:rw
      - /dev/shm:/dev/shm
      - ./config/cyclonedds.xml:/cyclonedds.xml:ro
      - ./config/cyclonedds.xml:/root/.ros/cyclonedds.xml:ro
    ulimits:
      memlock:
        soft: -1
        hard: -1
      nofile:
        soft: 65536
        hard: 65536
      rtprio:
        soft: 99
        hard: 99

and it references the

  orb_slam3_22_humble_nvidia:
    <<: *orb_slam3_common
    image: orb-slam3-humble-nvidia:22.04
    cap_add:
      - SYS_NICE
    volumes:
      #full dev
      - /dev:/dev:rw
      #full media
      - /media:/media:rw
      #Time
      - /etc/timezone:/etc/timezone:rw
      - /etc/localtime:/etc/localtime:rw
      #ros-workspaces
      - ./container_root/:/root/
      - ./ros_env_vars.sh:/root/ros_env_vars.sh
      - ./orb_slam3_ros2_wrapper/:/root/colcon_ws/src/orb_slam3_ros2_wrapper/
      - ./orb_slam3_map_generator/:/root/colcon_ws/src/orb_slam3_map_generator/
      - ./slam_msgs/:/root/colcon_ws/src/slam_msgs/
      - ./FastTrack/:/home/orb/ORB_SLAM3/
    runtime: nvidia
    deploy:
      resources:
        reservations:
          devices:
            - driver: nvidia
              count: all
              capabilities: [gpu]

running it with a gz simulation connection for easier time i have the
ros2 launch orb_slam3_ros2_wrapper rgbd_imu.launch.py robot_namespace:=drone

with gazebo rgbd imu ros params.yaml as bellow

ORB_SLAM3_IMU_RGBD_ROS2:
  ros__parameters:
    use_sim_time: true
    # slam related
    robot_base_frame: base_footprint
    global_frame: map
    odom_frame: odom
    rgb_image_topic_name: "camera/rgbd/image_raw"
    depth_image_topic_name: "camera/rgbd/depth_image"
    imu_topic_name: "imu"

    # the below parameters are used to adjust the initial pose with respect to the map.
    # the camera pose maybe translated and rotated with respect to the base_footprint. The wrapper publishes map->base_footprint. Hence this relative transform needs to be accounted.
    # the below transform is the transform from base_footpring -> camera_link
    robot_x: 0.0
    robot_y: 0.0
    robot_z: 0.150
    robot_qx: 0.0
    robot_qy: 0.0
    robot_qz: 0.0
    robot_qw: 1.0

    visualization: true
    odometry_mode: false
    publish_tf: true
    map_data_publish_frequency: 1000 # publish every 1000.0 milliseconds
    do_loop_closing: true

working and opening the windows but as soon as the camera sees the scene i get the bellow error:

root@kaipis-MS-7C02:# ros2 launch orb_slam3_ros2_wrapper rgbd_imu.launch.py robot_namespace:=drone
[INFO] [launch]: All log files can be found below /root/.ros/log/2026-05-28-21-35-09-720184-kaipis-MS-7C02-52558
[INFO] [launch]: Default logging verbosity is set to INFO
[INFO] [rgbd_imu-1]: process started with pid [52559]
[rgbd_imu-1] ======================== CUDA CONFIGURATION ========================
[rgbd_imu-1] RunOrbExtractionOnGPU: True
[rgbd_imu-1] RunStereoMatchOnGPU: True
[rgbd_imu-1] RunSearchLocalPointsOnGPU: True
[rgbd_imu-1] RunPoseEstimationOnGPU: True
[rgbd_imu-1] RunPoseOptimization: False
[rgbd_imu-1] Interface constructor started
[rgbd_imu-1]
[rgbd_imu-1] ORB-SLAM3 Copyright (C) 2017-2020 Carlos Campos, Richard Elvira, Juan J. Gómez, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
[rgbd_imu-1] ORB-SLAM2 Copyright (C) 2014-2016 Raúl Mur-Artal, José M.M. Montiel and Juan D. Tardós, University of Zaragoza.
[rgbd_imu-1] This program comes with ABSOLUTELY NO WARRANTY;
[rgbd_imu-1] This is free software, and you are welcome to redistribute it
[rgbd_imu-1] under certain conditions. See LICENSE.txt.
[rgbd_imu-1]
[rgbd_imu-1] Input sensor was set to: RGB-D-Inertial
[rgbd_imu-1]
[rgbd_imu-1] Loading ORB Vocabulary. This could take a while...
[rgbd_imu-1] Vocabulary loaded!
[rgbd_imu-1]
[rgbd_imu-1] Initialization of Atlas from scratch
[rgbd_imu-1] Creation of new map with id: 0
[rgbd_imu-1] Creation of new map with last KF id: 0
[rgbd_imu-1] Seq. Name:
[rgbd_imu-1]
[rgbd_imu-1] Camera Parameters:
[rgbd_imu-1] - Camera: Pinhole
[rgbd_imu-1] - Image scale: 1
[rgbd_imu-1] - fx: 432.496
[rgbd_imu-1] - fy: 432.496
[rgbd_imu-1] - cx: 320
[rgbd_imu-1] - cy: 240
[rgbd_imu-1] - k1: 0
[rgbd_imu-1] - k2: 0
[rgbd_imu-1] - p1: 0
[rgbd_imu-1] - p2: 0
[rgbd_imu-1] - k3: 0
[rgbd_imu-1] - fps: 30
[rgbd_imu-1] - color order: BGR (ignored if grayscale)
[rgbd_imu-1]
[rgbd_imu-1] Depth Threshold (Close/Far Points): 3.422
[rgbd_imu-1]
[rgbd_imu-1] ORB Extractor Parameters:
[rgbd_imu-1] - Number of Features: 900
[rgbd_imu-1] - Scale Levels: 8
[rgbd_imu-1] - Scale Factor: 1.2
[rgbd_imu-1] - Initial Fast Threshold: 20
[rgbd_imu-1] - Minimum Fast Threshold: 7
[rgbd_imu-1]
[rgbd_imu-1] Left camera to Imu Transform (Tbc):
[rgbd_imu-1] [1, 0, 0, 0;
[rgbd_imu-1] 0, 1, 0, 0;
[rgbd_imu-1] 0, 0, 1, 0;
[rgbd_imu-1] 0, 0, 0, 1]
[rgbd_imu-1]
[rgbd_imu-1] IMU frequency: 200 Hz
[rgbd_imu-1] IMU gyro noise: 1e-09 rad/s/sqrt(Hz)
[rgbd_imu-1] IMU gyro walk: 1e-09 rad/s^2/sqrt(Hz)
[rgbd_imu-1] IMU accelerometer noise: 1e-09 m/s^2/sqrt(Hz)
[rgbd_imu-1] IMU accelerometer walk: 1e-09 m/s^3/sqrt(Hz)
[rgbd_imu-1] There are 1 cameras in the atlas
[rgbd_imu-1] Camera 0 is pinhole
[rgbd_imu-1] Tracking Thread:: Initializing Kernels
[rgbd_imu-1] Enabled Loop Closing
[rgbd_imu-1] INIT COMPLETE
[rgbd_imu-1] Interface constructor complete
[rgbd_imu-1] Robot X: 0 Robot Y: 0
[rgbd_imu-1] [INFO] [1779993313.895286892] [drone.ORB_SLAM3_IMU_RGBD_ROS2]: RGBD-IMU node started. RGB: camera/rgbd/image_raw | Depth: camera/rgbd/depth_image | IMU: imu
[rgbd_imu-1] [WARN] [1779993313.928593443] [drone.ORB_SLAM3_IMU_RGBD_ROS2]: No IMU measurements between two RGBD frames!
[rgbd_imu-1]
[rgbd_imu-1] (ORB-SLAM3: Current Frame:52559): dbind-WARNING **: 21:35:14.121: Couldn't connect to accessibility bus: Failed to connect to socket /run/user/1000/at-spi/bus_1: No such file or directory
[rgbd_imu-1] Gtk-Message: 21:35:14.141: Failed to load module "canberra-gtk-module"
[rgbd_imu-1] Gtk-Message: 21:35:14.141: Failed to load module "canberra-gtk-module"
[rgbd_imu-1] Starting the Viewer
[rgbd_imu-1] not IMU meas
[rgbd_imu-1] ORB-SLAM failed: Not initialized.
[rgbd_imu-1] Timestamp jump detected, before IMU initialization. Reseting...
[rgbd_imu-1] ORB-SLAM failed: Not initialized.
[rgbd_imu-1] LM: Active map reset recieved
[rgbd_imu-1] LM: Active map reset, waiting...
[rgbd_imu-1] LM: Reseting current map in Local Mapping...
[rgbd_imu-1] LM: End reseting Local Mapping...
[rgbd_imu-1] LM: Reset free the mutex
[rgbd_imu-1] LM: Active map reset, Done!!!
[rgbd_imu-1] mnFirstFrameId = 0
[rgbd_imu-1] mnInitialFrameId = 0
[rgbd_imu-1] 0 Frames set to lost
[rgbd_imu-1] not IMU meas
[rgbd_imu-1] ORB-SLAM failed: Not initialized.
[rgbd_imu-1] First KF:0; Map init KF:0
[rgbd_imu-1] New Map created with 900 points
[rgbd_imu-1] CudaFrame:: Failed to copy mvuRight to gpu: invalid argument, status code: 1
[ERROR] [rgbd_imu-1]: process has died [pid 52559, exit code -11, cmd '/root/colcon_ws/install/orb_slam3_ros2_wrapper/lib/orb_slam3_ros2_wrapper/rgbd_imu /home/orb/ORB_SLAM3/Vocabulary/ORBvoc.txt /root/colcon_ws/src/orb_slam3_ros2_wrapper/params/orb_slam3_params/gazebo_rgbd_imu.yaml --ros-args -r __ns:=/drone --params-file /tmp/tmpq0szft48'].
root@kaipis-MS-7C02:# ros2 launch orb_slam3_ros2_wrapper rgbd_imu.launch.py robot_namespace:=drone

[suchetanrs]

Hello, thanks for the ticket. This is a known issue.

The GPU implementation of ORB_SLAM3 currently only supports stereo modes. See (#50)

I haven't found the bandwidth to look into this myself. Please let me know if you have the time to help out.