How to use rtabmap on turtlebot?

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How to use rtabmap on turtlebot?

yincanben
Hello.
     I tried to run rtabmap on turtlebot, but tf has  error,Can you give some advice about how to Modify?
error:
[ WARN] [1418803698.777078622]: The tf tree is invalid because it contains a loop.
Frame wheel_left_link exists with parent base_link.
Frame base_link exists with parent base_footprint.
Frame wheel_right_link exists with parent base_link.
Frame base_footprint exists with parent odom.
Frame odom exists with parent map.
Frame camera_link exists with parent camera_rgb_frame.
Frame camera_rgb_frame exists with parent base_link.
Frame camera_rgb_optical_frame exists with parent camera_rgb_frame.
Frame camera_depth_optical_frame exists with parent camera_depth_frame.
Frame camera_depth_frame exists with parent camera_rgb_frame.
Frame caster_back_link exists with parent base_link.
Frame caster_front_link exists with parent base_link.
Frame cliff_sensor_front_link exists with parent base_link.
Frame cliff_sensor_left_link exists with parent base_link.
Frame cliff_sensor_right_link exists with parent base_link.
Frame gyro_link exists with parent base_link.
Frame plate_bottom_link exists with parent base_link.
Frame plate_middle_link exists with parent base_link.
Frame plate_top_link exists with parent base_link.
Frame pole_bottom_0_link exists with parent base_link.
Frame pole_bottom_1_link exists with parent base_link.
Frame pole_bottom_2_link exists with parent base_link.
Frame pole_bottom_3_link exists with parent base_link.
Frame pole_bottom_4_link exists with parent base_link.
Frame pole_bottom_5_link exists with parent base_link.
Frame pole_kinect_0_link exists with parent base_link.
Frame pole_kinect_1_link exists with parent base_link.
Frame pole_middle_0_link exists with parent base_link.
Frame pole_middle_1_link exists with parent base_link.
Frame pole_middle_2_link exists with parent base_link.
Frame pole_middle_3_link exists with parent base_link.
Frame pole_top_0_link exists with parent base_link.
Frame pole_top_1_link exists with parent base_link.
Frame pole_top_2_link exists with parent base_link.
Frame pole_top_3_link exists with parent base_link.

turtlebot_frames.pdf
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Re: How to use rtabmap on turtlebot?

matlabbe
Administrator
Leo
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Re: How to use rtabmap on turtlebot?

Leo
In reply to this post by yincanben
Hey mr. Yiancanben I work with turtlebot 2 and am wanting to run the ROS version of Slam RTABMAP in turtlebot, where it will do the trajectory and mapping alone. I wonder how you managed to get to run !!


thanks You
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Re: How to use rtabmap on turtlebot?

Mark
In reply to this post by yincanben
I think both turtlebot and rtabmap are publishing the transformation from /base_link to /camera_link when you use standard launchfiles. There should only be one publisher of a specific transformation.
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Re: How to use rtabmap on turtlebot?

yincanben
In reply to this post by Leo
Have you installed RTABMap and ROS ?If not, you should install them,and you should modify the openni_launch file:
<include file="$(find openni_launch)/launch/openni.launch" >
    <arg name="publish_tf" value="false" />
</include>
Then you can run:

$roscore
$roslaunch turtlebot_bringup minimal.launch
$roslaunch openni_launch openni.launch depth_registration:=true
$roslaunch rtabmap_ros rgbd_mapping.launch

maybe,you can control the turtlebot by running:
$roslaunch turtlebot_teleop keyboard_teleop.launch
I hope it help you.