TF_NO_FRAME_ID: Ignoring transform with child_frame_id

[dify1492]

Hi all,

For my hardware set up I have a d455 stereo camera and t265 on top of each other for a handheld mapping.
Here is my tf tree:


I'm running robot localization using /t265/odom/sample and /t265/imu as two inputs to obtain /odometry/filtered and /odometry/filtered_map. I'm also running imu_filter_madgwick to obtain /rtabmap/imu topic.

However, when I launch this following cmd:

"roslaunch rtabmap_ros rtabmap.launch    \
   args:="-d --Mem/UseOdomGravity true --Optimizer/GravitySigma 0.3"    \
   odom_topic:=/t265/odom/sample    \
   frame_id:=t265_link    \
   rgbd_sync:=true    \
   depth_topic:=/d400/aligned_depth_to_color/image_raw    \
   rgb_topic:=/d400/color/image_raw    \
   camera_info_topic:=/d400/color/camera_info    \
   approx_rgbd_sync:=false    \
   visual_odometry:=false    \
   wait_imu_to_init:=true    \
   imu_topic:=/rtabmap/imu"

I get the following TF Error:  TF_NO_FRAME_ID: Ignoring transform with child_frame_id "t265_odom_frame"  from authority "/rtabmap/rtabmap" because frame_id not set
         at line 233 in /tmp/binarydeb/ros-melodic-tf2-0.6.5/src/buffer_core.cpp


Has anyone encountered this error or knows how to solve it?
I've been stuck at it for two days now..

Thanks.

BR

[dify1492]

After setting the "publish_tf_map" and "publish_tf_odom" both to false the TF_NO_FRAME_ID error disappeared but now I get the following error:
[ WARN] [1623881684.365859083]: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty

And also rtabmapviz shuts down right away. So I can only use rviz at this moment.

Does anyone know what's going on here?

[matlabbe]

Hi,

I see your rtabmap command is coming from this tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping

If robot_localization is not started, do you have the same error?

cheers,
Mathieu

[dify1492]

I got it solved.
Thank you.

Closing this issue.