problem after activating visual odometry!

[Masoumeh]

hi mattieu,

1) I am lauching demo_husky .launch and i have activated visual odometry and deactivated icp-odometry. but after launching this demo, i can see that it has considered odom_frame_id: /odometry/filtered, while this is a topic not a frame (the output is in the following)!!!
I checked the rtabmap.launch file. and i found that it has defined :<arg name="vo_frame_id"   default="$(arg odom_topic)"/> ??why?
because of this in rviz i have an error that /rtabmap/vo cannot be published because :
Transform [sender=unknown_publisher]
For frame [/odometry/filtered]: Frame [/odometry/filtered] does not exist


2) when i specify odom as my frame id (<arg name="odom_frame_id"    default="odom" />), I can see that i donot have any /odometry/filtered as the input of my /rtabmap/rtabmap node in my graph. is this true? when i need to define odom_frame_id?

so how can i fix these issue? in the following you can find the output in my terminal:


OUTPUT:
[ INFO] [1645383676.814733066]: Initializing nodelet with 8 worker threads.
[ INFO] [1645383676.826961541]: Initializing nodelet with 8 worker threads.
[ INFO] [1645383676.867030291, 1643888397.857823492]: Approximate time sync = true
[ INFO] [1645383676.929902915]: Odometry: frame_id               = base_link
[ INFO] [1645383676.929930031]: Odometry: odom_frame_id          = /odometry/filtered
[ INFO] [1645383676.929940301]: Odometry: publish_tf             = false
[ INFO] [1645383676.929955755]: Odometry: wait_for_transform     = true
[ INFO] [1645383676.929974642]: Odometry: wait_for_transform_duration  = 0.200000
[ INFO] [1645383676.930001671]: Odometry: initial_pose           = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1645383676.930012407]: Odometry: ground_truth_frame_id  =
[ INFO] [1645383676.930022495]: Odometry: ground_truth_base_frame_id =
[ INFO] [1645383676.930031667]: Odometry: config_path            =
[ INFO] [1645383676.930043701]: Odometry: publish_null_when_lost = false
[ INFO] [1645383676.930052746]: Odometry: guess_frame_id         =
[ INFO] [1645383676.930062363]: Odometry: guess_min_translation  = 0.000000
[ INFO] [1645383676.930072121]: Odometry: guess_min_rotation     = 0.000000
[ INFO] [1645383676.930081138]: Odometry: guess_min_time         = 0.000000
[ INFO] [1645383676.930090295]: Odometry: expected_update_rate   = 0.000000 Hz
[ INFO] [1645383676.930099571]: Odometry: max_update_rate        = 0.000000 Hz
[ INFO] [1645383676.930108448]: Odometry: wait_imu_to_init       = false
[ INFO] [1645383676.930129986]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ INFO] [1645383676.975614886]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1645383676.975645234]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1645383676.975665161]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1645383676.975696049]: /rtabmap/rtabmap(maps): map_always_update          = false
[ INFO] [1645383676.975709463]: /rtabmap/rtabmap(maps): map_empty_ray_tracing      = true
[ INFO] [1645383676.975720888]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1645383676.975734673]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1645383676.975748958]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1645383676.991878145]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1645383677.052715882]: rtabmap: frame_id      = base_link
[ INFO] [1645383677.052748205]: rtabmap: odom_frame_id = odom
[ INFO] [1645383677.052760406]: rtabmap: map_frame_id  = map
[ INFO] [1645383677.052776909]: rtabmap: use_action_for_goal  = false



thanks

[Masoumeh]

Dear Mattieu,
i found your response here:
http://official-rtab-map-forum.206.s1.nabble.com/odom-frame-id-and-odom-topic-in-rtabmap-launch-td8334.html

my case is the fifth one, i mean i am using robot-localization pkg, now the problem is that when i activate visual-odometry and consider : <arg name="odom_frame_id"           default="odom" /> AND <arg unless="$(arg icp_odometry)" name="odom_topic" value="/odometry/filtered_map"/> , it doesnot receive the /odometry/filtered_map as input, while i remove odom from odom_frame_id, i can see "/odometry/filtered_map" as an input of my /rtabmap/rtabmap, while as you mentioned in that link (http://official-rtab-map-forum.206.s1.nabble.com/odom-frame-id-and-odom-topic-in-rtabmap-launch-td8334.html), whe we are using robot-localization pkg, we need to set odom as odom_frame_id. so what should i do now?!!

(the setting in rtabmap.launch file,: <arg name="vo_frame_id"              default="$(arg odom_topic)"   , it considers this topis as a frame, while there is not such a kind of frame! )

<nabble_img src="rosgraph.png" border="0"/>

what is the issue?

[Masoumeh]

sorry, mattieu, would you please help me to identify this issue as well

thanks a lot