Sensor_Fusion error with Tf

[kemfic1]

Hi,
I'm trying to run the sensor_fusion.launch example for RTAB-Map, but I'm getting the following error:


[ WARN] [1529175256.460112956]: odometry: Could not get transform from base_link to camera_rgb_optical_frame (stamp=1529175256.355035) after 0.10000 seconds ("wait_for_transform_duration"=0.100000)!

 Error="Could not find a connection between 'base_link' and 'camera_rgb_optical_frame' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.101323 timeout was 0.1."

I've attached a copy of my TF tree graph. How can I connect the two trees? I'm using i2c_imu with rtimulib to pull data from the IMU, and libfreenect to get data from a Kinect 360.

frames.pdf

Thanks,
kemfic1

[matlabbe]

Hi,

You can add a static_transform_publisher between base_link and camera_link.

cheers,
Mathieu

[kemfic1]

Thanks, I'll try it out tonight and keep you guys posted for details.

[kemfic1]

Thanks for the help! I created an URDF for my robot, then used a tf_static_publisher to connect the imu to my tf tree. It's not working as expected, but I'm not getting that error anymore.

I'll post more details soon.