.yaml file terminates unexpectly

[MingHe98]

Hi, I'm using Jetson AGX Orin with Realsense D435i. I could launch the camera and echo the information from topics that /realsense_d435i/realsense_stereo_imu_config.yaml/ file subscribes like /camera/imu, /camera/infra1/img..., but whenever I run the .yaml file it terminates without errors. Now, I copied and pasted the debug output here, and the error seems that the file isn't fully ported with ros2?

xtechlab@xtechlab-desktop:~$ ros2 run vins vins_node /home/xtechlab/ros2_ws/src/VINS-Fusion-ROS2/config/realsense_d435i/realsense_stereo_imu_config.yaml --ros-args --log-level debug
[INFO] [1726063224.456703308] []: init begins
[DEBUG] [1726063224.492504938] [rclcpp]: signal handler installed
[DEBUG] [1726063224.492757196] [rclcpp]: deferred_signal_handler(): waiting for SIGINT or uninstall
[DEBUG] [1726063224.492883468] [rcl]: Initializing node 'vins_estimator' in namespace ''
[DEBUG] [1726063224.492969260] [rcl]: Using domain ID of '0'
[DEBUG] [1726063224.514968494] [rcl]: Initializing publisher for topic name '/rosout'
[DEBUG] [1726063224.515077582] [rcl]: Expanded topic name '/rosout'
[DEBUG] [1726063224.516475188] [rcl]: Publisher initialized
[DEBUG] [1726063224.516540373] [rcl]: Node initialized
[DEBUG] [1726063224.516741078] [rcl]: Initializing service for service name 'vins_estimator/get_parameters'
[DEBUG] [1726063224.516766678] [rcl]: Expanded service name '/vins_estimator/get_parameters'
[DEBUG] [1726063224.517553241] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [1726063224.517586393] [rmw_fastrtps_cpp]: Sub Topic rq/vins_estimator/get_parametersRequest
[DEBUG] [1726063224.517601849] [rmw_fastrtps_cpp]: Pub Topic rr/vins_estimator/get_parametersReply
[DEBUG] [1726063224.517613113] [rmw_fastrtps_cpp]: ***********
[DEBUG] [1726063224.518121180] [rcl]: Service initialized
[DEBUG] [1726063224.518207740] [rcl]: Initializing service for service name 'vins_estimator/get_parameter_types'
[DEBUG] [1726063224.518231612] [rcl]: Expanded service name '/vins_estimator/get_parameter_types'
[DEBUG] [1726063224.518414845] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [1726063224.518437757] [rmw_fastrtps_cpp]: Sub Topic rq/vins_estimator/get_parameter_typesRequest
[DEBUG] [1726063224.518451005] [rmw_fastrtps_cpp]: Pub Topic rr/vins_estimator/get_parameter_typesReply
[DEBUG] [1726063224.518462397] [rmw_fastrtps_cpp]: ***********
[DEBUG] [1726063224.518881791] [rcl]: Service initialized
[DEBUG] [1726063224.518944639] [rcl]: Initializing service for service name 'vins_estimator/set_parameters'
[DEBUG] [1726063224.518968607] [rcl]: Expanded service name '/vins_estimator/set_parameters'
[DEBUG] [1726063224.519148768] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [1726063224.519171808] [rmw_fastrtps_cpp]: Sub Topic rq/vins_estimator/set_parametersRequest
[DEBUG] [1726063224.519185472] [rmw_fastrtps_cpp]: Pub Topic rr/vins_estimator/set_parametersReply
[DEBUG] [1726063224.519196544] [rmw_fastrtps_cpp]: ***********
[DEBUG] [1726063224.519559682] [rcl]: Service initialized
[DEBUG] [1726063224.519614562] [rcl]: Initializing service for service name 'vins_estimator/set_parameters_atomically'
[DEBUG] [1726063224.519635522] [rcl]: Expanded service name '/vins_estimator/set_parameters_atomically'
[DEBUG] [1726063224.519822083] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [1726063224.519846339] [rmw_fastrtps_cpp]: Sub Topic rq/vins_estimator/set_parameters_atomicallyRequest
[DEBUG] [1726063224.519857891] [rmw_fastrtps_cpp]: Pub Topic rr/vins_estimator/set_parameters_atomicallyReply
[DEBUG] [1726063224.519866851] [rmw_fastrtps_cpp]: ***********
[DEBUG] [1726063224.520307493] [rcl]: Service initialized
[DEBUG] [1726063224.520373958] [rcl]: Initializing service for service name 'vins_estimator/describe_parameters'
[DEBUG] [1726063224.520399142] [rcl]: Expanded service name '/vins_estimator/describe_parameters'
[DEBUG] [1726063224.520622023] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [1726063224.520649223] [rmw_fastrtps_cpp]: Sub Topic rq/vins_estimator/describe_parametersRequest
[DEBUG] [1726063224.520664519] [rmw_fastrtps_cpp]: Pub Topic rr/vins_estimator/describe_parametersReply
[DEBUG] [1726063224.520674375] [rmw_fastrtps_cpp]: ***********
[DEBUG] [1726063224.521127657] [rcl]: Service initialized
[DEBUG] [1726063224.521192841] [rcl]: Initializing service for service name 'vins_estimator/list_parameters'
[DEBUG] [1726063224.521211817] [rcl]: Expanded service name '/vins_estimator/list_parameters'
[DEBUG] [1726063224.521411050] [rmw_fastrtps_cpp]: ************ Service Details *********
[DEBUG] [1726063224.521437482] [rmw_fastrtps_cpp]: Sub Topic rq/vins_estimator/list_parametersRequest
[DEBUG] [1726063224.521552011] [rmw_fastrtps_cpp]: Pub Topic rr/vins_estimator/list_parametersReply
[DEBUG] [1726063224.521567115] [rmw_fastrtps_cpp]: ***********
[DEBUG] [1726063224.521966029] [rcl]: Service initialized
[DEBUG] [1726063224.522038733] [rcl]: Initializing publisher for topic name '/parameter_events'
[DEBUG] [1726063224.522059981] [rcl]: Expanded topic name '/parameter_events'
[DEBUG] [1726063224.522470095] [rcl]: Publisher initialized
[DEBUG] [1726063224.522702896] [rcl]: Finalizing event
[DEBUG] [1726063224.522727408] [rcl]: Event finalized
[DEBUG] [1726063224.523269683] [rcl]: Initializing subscription for topic name '/parameter_events'
[DEBUG] [1726063224.523298419] [rcl]: Expanded topic name '/parameter_events'
[DEBUG] [1726063224.523742453] [rcl]: Subscription initialized
[DEBUG] [1726063224.523840405] [rcl]: Finalizing event
[DEBUG] [1726063224.523860693] [rcl]: Event finalized
please intput: rosrun vins vins_node [config file]
for example: rosrun vins vins_node ~/catkin_ws/src/VINS-Fusion/config/euroc/euroc_stereo_imu_config.yaml
[DEBUG] [1726063224.524003414] [rcl]: Finalizing subscription
[DEBUG] [1726063224.524810617] [rcl]: Subscription finalized
[DEBUG] [1726063224.524862106] [rcl]: Finalizing service
[DEBUG] [1726063224.525502076] [rcl]: Service finalized
[DEBUG] [1726063224.525540157] [rcl]: Finalizing service
[DEBUG] [1726063224.525901918] [rcl]: Service finalized
[DEBUG] [1726063224.525942366] [rcl]: Finalizing service
[DEBUG] [1726063224.526248608] [rcl]: Service finalized
[DEBUG] [1726063224.526283072] [rcl]: Finalizing service
[DEBUG] [1726063224.526567585] [rcl]: Service finalized
[DEBUG] [1726063224.526597761] [rcl]: Finalizing service
[DEBUG] [1726063224.526878082] [rcl]: Service finalized
[DEBUG] [1726063224.526909667] [rcl]: Finalizing service
[DEBUG] [1726063224.527206244] [rcl]: Service finalized
[DEBUG] [1726063224.527250372] [rcl]: Finalizing publisher
[DEBUG] [1726063224.527566854] [rcl]: Publisher finalized
[DEBUG] [1726063224.527680486] [rcl]: Finalizing node
[DEBUG] [1726063224.527705478] [rcl]: Finalizing publisher
[DEBUG] [1726063224.528022312] [rcl]: Publisher finalized
[DEBUG] [1726063224.531692824] [rcl]: Node finalized
[DEBUG] [1726063224.532001657] [rclcpp]: SignalHandler::uninstall(): notifying deferred signal handler
[DEBUG] [1726063224.532052121] [rclcpp]: deferred_signal_handler(): woken up due to SIGINT or uninstall
[DEBUG] [1726063224.532111354] [rclcpp]: deferred_signal_handler(): signal handling uninstalled
[DEBUG] [1726063224.532222650] [rclcpp]: signal handler uninstalled
[DEBUG] [1726063224.532264922] [rcl]: Shutting down ROS client library, for context at address: 0xaaaacc1c71c0