Could not get transform from camera_link to laser

[yonim]

Hi,

I'm trying to operate rtabmap.launch with icp_odometry from the laser-scan, and receive the following error:

[ WARN] [1615385705.384393533]: odometry: Could not get transform from camera_link to laser (stamp=1615385705.182599) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: source_frame laser does not exist.. canTransform returned after 0.201082 timeout was 0.2."
[ERROR] [1615385705.384460583]: TF of received laser scan topic at time 1615385705.029363s is not set, aborting odometry update.


This is the roslaunch command:
roslaunch rtabmap_ros rtabmap.launch     rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3"     depth_topic:=/camera/aligned_depth_to_color/image_raw     rgb_topic:=/camera/color/image_raw     camera_info_topic:=/camera/color/camera_info     approx_sync:=false     wait_imu_to_init:=true     imu_topic:=/rtabmap/imu

Please advise

Thanks,  Yoni

[matlabbe]

Hi,

rtabmap.launch uses "camera_link" as default frame_id. You would have to change it when calling rtabmap.launch by adding argument

frame_id:="base_link"

If the base frame of your robot is "base_link".

cheers,
Mathieu