Slam with D455

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Slam with D455

CGV_lee
This post was updated on .
Hello,

I'm currently performing SLAM-based mapping using only a RealSense D455 camera (no wheel odometry).  
I followed the suggestion in this [comment](https://github.com/introlab/rtabmap_ros/issues/1105#issuecomment-1902269943) to resolve the map overlapping issue, and it initially helped.

However, I'm now encountering a new problem:  
After the robot completes one more loop, TF errors begin to appear.  
Specifically, **all nodes except `map` and `odom`** start showing errors like:

No transform from [XXX] to [map]

I've attached my current TF tree for reference.

Has anyone experienced this issue before, or does anyone have suggestions on how to fix it?

Thank you!


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Re: Slam with D455

matlabbe
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Could you record the TF tree when it happens? The timings in that tree look okay.