Fixed Frame [map] does not exist

[jacksonkr]

I've run into this issue before but I can't remember how I overcame it.

Here's the terminal setup:

$ roslaunch realsense2_camera rs_camera.launch align_depth:=true

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" rviz:=true rtabmapviz:=false

Once rviz pops up I get "Fixed Frame [map] does not exist" for the global status > fixed frame. What's going on here?

[matlabbe]

Hi,

based on the realsense D435 example on the tutorial page: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping

you should launch rtabmap like this instead:

$ roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    depth_topic:=/camera/aligned_depth_to_color/image_raw \
    rgb_topic:=/camera/color/image_raw \
    camera_info_topic:=/camera/color/camera_info \
    rviz:=true \
    rtabmapviz:=false

cheers,
Mathieu

[jacksonkr]

I had definitely been on that page. I assumed I was looking for something called "map" which is where I was led astray.

Thanks @matlabbe
If we get funding for this project I'm definitely hiring you as a consultant!