Could not convert laser scan msg! Aborting rtabmapviz update...

[kolohe113]

Hi, I tried to run rtabmap with a lidar called LDS-01 (the one that turtlebot 3 has), I am sure that the lidar is running and publishing to the /scan topic, however rtabmap does not seems to convert the message.

The warning and error I got was:
[ WARN] [1528661281.071440462]: Could not get transform from camera_link to laser after 0.200000 seconds (for stamp=1528661280.695269)! Error="canTransform: source_frame laser does not exist.. canTransform returned after 0.202102 timeout was 0.2.".
[ERROR] [1528661281.071523528]: Could not convert laser scan msg! Aborting rtabmapviz update...

My rtabmap launch file:
<launch>
 

 
           
 
     
       
  <arg name="stereo"          default="false"/>
 
 
  <arg name="rtabmapviz"              default="true" /> 
  <arg name="rviz"                    default="false" />
 
 
  <arg name="localization"            default="false"/>
 
 
  <arg name="use_sim_time"            default="false"/>
 
 
 
  <arg name="cfg"                     default="" /> 
  <arg name="gui_cfg"                 default="~/.ros/rtabmap_gui.ini" />
  <arg name="rviz_cfg"                default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
 
  <arg name="frame_id"                default="camera_link"/>     
  <arg name="odom_frame_id"           default=""/>               
  <arg name="map_frame_id"            default="map"/>
  <arg name="ground_truth_frame_id"   default=""/>     
  <arg name="ground_truth_base_frame_id" default=""/> 
  <arg name="namespace"               default="rtabmap"/>
  <arg name="database_path"           default="~/.ros/rtabmap.db"/>
  <arg name="queue_size"              default="10"/>
  <arg name="wait_for_transform"      default="0.2"/>
  <arg name="args"                    default=""/>             
  <arg name="rtabmap_args"            default="$(arg args)"/>   
  <arg name="launch_prefix"           default=""/>             
  <arg name="output"                  default="screen"/>       

 
  <arg     if="$(arg stereo)" name="approx_sync"  default="false"/>
  <arg unless="$(arg stereo)" name="approx_sync"  default="true"/>         
   
 
  <arg name="rgb_topic"               default="/camera/rgb/image_rect_color" />
  <arg name="depth_topic"             default="/camera/depth_registered/image_raw" />
  <arg name="camera_info_topic"       default="/camera/rgb/camera_info" />
  <arg name="depth_camera_info_topic" default="$(arg camera_info_topic)" />
 
 
  <arg name="stereo_namespace"        default="/stereo_camera"/>
  <arg name="left_image_topic"        default="$(arg stereo_namespace)/left/image_rect_color" />
  <arg name="right_image_topic"       default="$(arg stereo_namespace)/right/image_rect" />     
  <arg name="left_camera_info_topic"  default="$(arg stereo_namespace)/left/camera_info" />
  <arg name="right_camera_info_topic" default="$(arg stereo_namespace)/right/camera_info" />
 
 
  <arg name="rgbd_sync"               default="false"/>         
  <arg name="approx_rgbd_sync"        default="true"/>         
  <arg name="subscribe_rgbd"          default="$(arg rgbd_sync)"/>
  <arg name="rgbd_topic"              default="rgbd_image" />
  <arg name="depth_scale"             default="1.0" />
 
  <arg name="compressed"              default="false"/>         
  <arg name="rgb_image_transport"     default="compressed"/>   
  <arg name="depth_image_transport"   default="compressedDepth"/> 
   
  <arg name="subscribe_scan"          default="true"/>
  <arg name="scan_topic"              default="/scan"/>
  <arg name="subscribe_scan_cloud"    default="false"/>
  <arg name="scan_cloud_topic"        default="/scan_cloud"/>
  <arg name="scan_normal_k"           default="0"/>
   
  <arg name="visual_odometry"          default="true"/>         
  <arg name="icp_odometry"             default="false"/>         
  <arg name="odom_topic"               default="odom"/>         
  <arg name="vo_frame_id"              default="$(arg odom_topic)"/> 
  <arg name="odom_tf_angular_variance" default="1"/>             
  <arg name="odom_tf_linear_variance"  default="1"/>             
  <arg name="odom_args"                default=""/>             
  <arg name="odom_sensor_sync"         default="false"/>
  <arg name="odom_guess_frame_id"        default=""/>
  <arg name="odom_guess_min_translation" default="0"/>
  <arg name="odom_guess_min_rotation"    default="0"/> 
 
  <arg name="subscribe_user_data"      default="false"/>             
  <arg name="user_data_topic"          default="/user_data"/>
  <arg name="user_data_async_topic"    default="/user_data_async" /> 
 
 
  <arg if="$(arg compressed)"     name="rgb_topic_relay"           default="$(arg rgb_topic)_relay"/>
  <arg unless="$(arg compressed)" name="rgb_topic_relay"           default="$(arg rgb_topic)"/>
  <arg if="$(arg compressed)"     name="depth_topic_relay"         default="$(arg depth_topic)_relay"/>
  <arg unless="$(arg compressed)" name="depth_topic_relay"         default="$(arg depth_topic)"/>
  <arg if="$(arg compressed)"     name="left_image_topic_relay"    default="$(arg left_image_topic)_relay"/>
  <arg unless="$(arg compressed)" name="left_image_topic_relay"    default="$(arg left_image_topic)"/>
  <arg if="$(arg compressed)"     name="right_image_topic_relay"   default="$(arg right_image_topic)_relay"/>
  <arg unless="$(arg compressed)" name="right_image_topic_relay"   default="$(arg right_image_topic)"/>

 
  <group ns="$(arg namespace)">
     
   
    <group unless="$(arg stereo)">
      <node if="$(arg compressed)" name="republish_rgb" type="republish" pkg="image_transport" args="$(arg rgb_image_transport) in:=$(arg rgb_topic) raw out:=$(arg rgb_topic_relay)" />
      <node if="$(arg compressed)" name="republish_depth" type="republish" pkg="image_transport" args="$(arg depth_image_transport) in:=$(arg depth_topic) raw out:=$(arg depth_topic_relay)" />
   
      <node if="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="$(arg output)">
        <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
        <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
        <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
        <remap from="rgbd_image"      to="$(arg rgbd_topic)"/>
       
       
       
      </node>
    </group>
    <group if="$(arg stereo)">
      <node if="$(arg compressed)" name="republish_left"  type="republish" pkg="image_transport" args="compressed in:=$(arg left_image_topic) raw out:=$(arg left_image_topic_relay)" />
      <node if="$(arg compressed)" name="republish_right" type="republish" pkg="image_transport" args="compressed in:=$(arg right_image_topic) raw out:=$(arg right_image_topic_relay)" />
   
      <node if="$(arg rgbd_sync)" pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/stereo_sync" output="$(arg output)">
        <remap from="left/image_rect"   to="$(arg left_image_topic)"/>
        <remap from="right/image_rect"  to="$(arg right_image_topic)"/>
        <remap from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
        <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
        <remap from="rgbd_image"      to="$(arg rgbd_topic)"/>
       
       
    </node>
    </group>
       
   
    <group unless="$(arg icp_odometry)">
      <group if="$(arg visual_odometry)">
     
       
        <node unless="$(arg stereo)" pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
          <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
          <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
          <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
          <remap from="rgbd_image"      to="$(arg rgbd_topic)"/>
          <remap from="odom"            to="$(arg odom_topic)"/>
     
         
         
         
         
         
         
         
         
         
         
         
         
        </node>

       
        <node if="$(arg stereo)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
          <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
          <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
          <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
          <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
          <remap from="rgbd_image"             to="$(arg rgbd_topic)"/>
          <remap from="odom"                   to="$(arg odom_topic)"/>
     
         
         
         
         
         
         
         
         
         
         
         
         
        </node>
      </group>
    </group>
   
   
    <node if="$(arg icp_odometry)" pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="$(arg output)" args="$(arg rtabmap_args) $(arg odom_args)" launch-prefix="$(arg launch_prefix)">
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
     
     
     
     
     
     
     
     
     
     
     
    </node>
 
   
   
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="$(arg output)" args="$(arg rtabmap_args)" launch-prefix="$(arg launch_prefix)">
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
     
      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
     
      <remap from="rgbd_image"      to="$(arg rgbd_topic)"/>
       
      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
     
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
      <remap from="user_data"              to="$(arg user_data_topic)"/>
      <remap from="user_data_async"        to="$(arg user_data_async_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
     
     
         
         
         
    </node>
 
   
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(arg gui_cfg)" output="$(arg output)" launch-prefix="$(arg launch_prefix)">
     
     
     
     
     
     
     
     
     
     
     
     
     
   
      <remap from="rgb/image"       to="$(arg rgb_topic_relay)"/>
      <remap from="depth/image"     to="$(arg depth_topic_relay)"/>
      <remap from="rgb/camera_info" to="$(arg camera_info_topic)"/>
     
      <remap from="rgbd_image"      to="$(arg rgbd_topic)"/>
     
      <remap from="left/image_rect"        to="$(arg left_image_topic_relay)"/>
      <remap from="right/image_rect"       to="$(arg right_image_topic_relay)"/>
      <remap from="left/camera_info"       to="$(arg left_camera_info_topic)"/>
      <remap from="right/camera_info"      to="$(arg right_camera_info_topic)"/>
     
      <remap from="scan"                   to="$(arg scan_topic)"/>
      <remap from="scan_cloud"             to="$(arg scan_cloud_topic)"/>
      <remap from="odom"                   to="$(arg odom_topic)"/>
    </node>
 
  </group>
 
 
  <node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_cfg)"/>
  <node if="$(arg rviz)" pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb">
    <remap from="left/image"        to="$(arg left_image_topic_relay)"/>
    <remap from="right/image"       to="$(arg right_image_topic_relay)"/>
    <remap from="left/camera_info"  to="$(arg left_camera_info_topic)"/>
    <remap from="right/camera_info" to="$(arg right_camera_info_topic)"/>
    <remap from="rgb/image"         to="$(arg rgb_topic_relay)"/>
    <remap from="depth/image"       to="$(arg depth_topic_relay)"/>
    <remap from="rgb/camera_info"   to="$(arg camera_info_topic)"/>
    <remap from="cloud"             to="voxel_cloud" />

   
   
   
  </node>

</launch>

[matlabbe]

Hi,

Change the frame_id to base_footprint or base_link (the root frame of the robot) instead of camera_link:

<arg name="frame_id" default="base_footprint"/>   

cheers,
Mathieu