Error when running Demos Robot mapping

[gecong]

I used the following command to run the Demo 3.1 Robot mapping:

    roslaunch rtabmap_ros demo_robot_mapping.launch
    rosbag play --clock demo_mapping.bag

However, I got a lot error message like:

    [ERROR] [1530155189.851117134, 1368730195.133868086]: TF of received image 0 at time 1368730194.599145s is not set!
[ERROR] [1530155189.851159788, 1368730195.133868086]: Could not convert rgb/depth msgs! Aborting rtabmapviz update...
^C[ WARN] [1530155189.872958686, 1368730195.154007926]: TF_OLD_DATA ignoring data from the past for frame base_link at time 1.36873e+09 according to authority unknown_publisher
Possible reasons are listed at http://wiki.ros.org/tf/Errors%20explained
[ WARN] [1530155189.873205778, 1368730195.154007926]: TF_OLD_DATA ignoring data from the past for frame base_link at time 1.36873e+09 according to authority unknown_publisher


How can I fix it?

Thank,s

[matlabbe]

Hi,

You may get these errors for the first 5 seconds of the bag, afterward it should be ok. There was a TF problem in the bag at the beginning. If you don't see a map creating after 10 seconds, there is indeed another problem.

cheers,
Mathieu