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rtabmap-ros/rtabmap is not publishing a map->odom transform

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mincrmatt12

rtabmap-ros/rtabmap is not publishing a map->odom transform

Hello. I have a rtabmap setup that currently is not using any sensor fusion, but is trying to use visual odometry provided by a ZED camera. I assume I can simply change this later once I setup the sensor fusion, but right now I have a different problem. When I run rtabmap, even with visual_odometry on, it doesn't publish any transform from odom to map! Any help is greatly appreciated.

matlabbe

Re: rtabmap-ros/rtabmap is not publishing a map->odom transform

Administrator

Hi,

Which rtabmap version you are using? /map -> /odom is published only if rtabmap is receiving data on its inputs. For convenience in recent versions, you would have this warning on the terminal:

Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter.

telling what could be the cause.

cheers,
Mathieu

mincrmatt12

Re: rtabmap-ros/rtabmap is not publishing a map->odom transform

Thanks for the quick reply, but unfortunately I do not get that error message in the console. I just updated rtabmap to the newest version from apt, and the problem still occurs. Any ideas?

matlabbe

Re: rtabmap-ros/rtabmap is not publishing a map->odom transform

Administrator

If you are on Indigo or Jade, the binaries don't have the warning message. Some things to verify: are you using two machines? Are input topics published? Have they all timstamps set?

mincrmatt12

Re: rtabmap-ros/rtabmap is not publishing a map->odom transform

I'm using Kinetic, only one machine, all input topics are published, and they all have timestamps.

matlabbe

Re: rtabmap-ros/rtabmap is not publishing a map->odom transform

Administrator

Hi,

Can you show what command lines you are using? I just tried with Kinetic binaries and ZED (following this tutorial) and it works.

Note that I updated the wiki of the tutorial with a missing TF causing this error on start:

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/depth/depth_registered
... logging to /home/mathieu/.ros/log/c2402fe8-0f33-11e7-86aa-2016d8fd6b78/roslaunch-mathieu-Aspire-MC605-3416.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.

started roslaunch server http://mathieu-Aspire-MC605:44551/

SUMMARY
========

PARAMETERS
 * /rosdistro: kinetic
 * /rosversion: 1.12.7
 * /rtabmap/rgbd_odometry/approx_sync: True
 * /rtabmap/rgbd_odometry/config_path: 
 * /rtabmap/rgbd_odometry/frame_id: camera_link
 * /rtabmap/rgbd_odometry/queue_size: 10
 * /rtabmap/rgbd_odometry/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmap/Mem/IncrementalMemory: true
 * /rtabmap/rtabmap/Mem/InitWMWithAllNodes: false
 * /rtabmap/rtabmap/approx_sync: True
 * /rtabmap/rtabmap/config_path: 
 * /rtabmap/rtabmap/database_path: ~/.ros/rtabmap.db
 * /rtabmap/rtabmap/frame_id: camera_link
 * /rtabmap/rtabmap/odom_frame_id: 
 * /rtabmap/rtabmap/queue_size: 10
 * /rtabmap/rtabmap/subscribe_depth: True
 * /rtabmap/rtabmap/subscribe_scan: False
 * /rtabmap/rtabmap/subscribe_scan_cloud: False
 * /rtabmap/rtabmap/subscribe_stereo: False
 * /rtabmap/rtabmap/wait_for_transform_duration: 0.2
 * /rtabmap/rtabmapviz/approx_sync: True
 * /rtabmap/rtabmapviz/frame_id: camera_link
 * /rtabmap/rtabmapviz/odom_frame_id: 
 * /rtabmap/rtabmapviz/queue_size: 10
 * /rtabmap/rtabmapviz/subscribe_depth: True
 * /rtabmap/rtabmapviz/subscribe_odom_info: True
 * /rtabmap/rtabmapviz/subscribe_scan: False
 * /rtabmap/rtabmapviz/subscribe_scan_cloud: False
 * /rtabmap/rtabmapviz/subscribe_stereo: False
 * /rtabmap/rtabmapviz/wait_for_transform_duration: 0.2

NODES
  /rtabmap/
    rgbd_odometry (rtabmap_ros/rgbd_odometry)
    rtabmap (rtabmap_ros/rtabmap)
    rtabmapviz (rtabmap_ros/rtabmapviz)

ROS_MASTER_URI=http://localhost:11311

core service [/rosout] found
process[rtabmap/rgbd_odometry-1]: started with pid [3434]
process[rtabmap/rtabmap-2]: started with pid [3435]
process[rtabmap/rtabmapviz-3]: started with pid [3436]
[ INFO] [1490210118.282822477]: Starting node...
[ INFO] [1490210118.396866627]: Initializing nodelet with 8 worker threads.
[ INFO] [1490210118.397973891]: Initializing nodelet with 8 worker threads.
[ INFO] [1490210118.690431223]: Starting node...
[ INFO] [1490210118.841203310]: /rtabmap/rtabmap(maps): grid_cell_size             = 0.050000
[ INFO] [1490210118.841245913]: /rtabmap/rtabmap(maps): grid_incremental           = false
[ INFO] [1490210118.841282929]: /rtabmap/rtabmap(maps): grid_size                  = 0.000000
[ INFO] [1490210118.841333913]: /rtabmap/rtabmap(maps): grid_eroded                = false
[ INFO] [1490210118.841368624]: /rtabmap/rtabmap(maps): grid_footprint_radius      = 0.000000
[ INFO] [1490210118.841401031]: /rtabmap/rtabmap(maps): map_filter_radius          = 0.000000
[ INFO] [1490210118.841425755]: /rtabmap/rtabmap(maps): map_filter_angle           = 30.000000
[ INFO] [1490210118.841456345]: /rtabmap/rtabmap(maps): map_cleanup                = true
[ INFO] [1490210118.841477228]: /rtabmap/rtabmap(maps): map_negative_poses_ignored = false
[ INFO] [1490210118.841505025]: /rtabmap/rtabmap(maps): cloud_output_voxelized     = true
[ INFO] [1490210118.841541761]: /rtabmap/rtabmap(maps): cloud_subtract_filtering   = false
[ INFO] [1490210118.841599171]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1490210118.844335413]: /rtabmap/rtabmap(maps): octomap_tree_depth         = 16
[ INFO] [1490210118.844387724]: /rtabmap/rtabmap(maps): octomap_occupancy_thr      = 0.500000
[ INFO] [1490210118.893696106]: rtabmap: frame_id      = camera_link
[ INFO] [1490210118.893741084]: rtabmap: map_frame_id  = map
[ INFO] [1490210118.893776564]: rtabmap: tf_delay      = 0.050000
[ INFO] [1490210118.893819237]: rtabmap: tf_tolerance  = 0.100000
[ INFO] [1490210118.893857719]: rtabmap: odom_sensor_sync   = false
[ INFO] [1490210119.052108343]: rtabmapviz: Using configuration from "/home/mathieu/.ros/rtabmap_gui.ini"
[ INFO] [1490210119.223944498]: Setting RTAB-Map parameter "Mem/IncrementalMemory"="true"
[ INFO] [1490210119.224735939]: Setting RTAB-Map parameter "Mem/InitWMWithAllNodes"="false"
[ INFO] [1490210119.402974516]: 
/rtabmap/rgbd_odometry subscribed to (approx sync):
   /camera/rgb/image_rect_color,
   /camera/depth/depth_registered,
   /camera/rgb/camera_info
[ INFO] [1490210119.771955218]: RTAB-Map detection rate = 1.000000 Hz
[ INFO] [1490210119.790748606]: rtabmap: Deleted database "/home/mathieu/.ros/rtabmap.db" (--delete_db_on_start is set).
[ INFO] [1490210119.790820263]: rtabmap: Using database from "/home/mathieu/.ros/rtabmap.db".
[ WARN] [1490210119.851514105]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210119.490623) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201607 timeout was 0.2."
[ WARN] [1490210120.055447716]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210119.787670) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.20137 timeout was 0.2."
[ WARN] [1490210120.259507949]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210119.957544) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201531 timeout was 0.2."
[ WARN] [1490210120.463284487]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210120.179567) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201451 timeout was 0.2."
[ WARN] [1490210120.667069615]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210120.400791) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201406 timeout was 0.2."
[ WARN] [1490210120.872130603]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210120.568178) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201535 timeout was 0.2."
[ WARN] [1490210121.076050175]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210120.791711) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201517 timeout was 0.2."
[ WARN] [1490210121.286687572]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210121.020711) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201464 timeout was 0.2."
[ WARN] [1490210121.490489809]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210121.199101) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201666 timeout was 0.2."
[ WARN] [1490210121.694750624]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210121.420505) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201492 timeout was 0.2."
[ WARN] [1490210121.903064330]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210121.640732) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201406 timeout was 0.2."
[ WARN] [1490210122.106813208]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210121.808840) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201442 timeout was 0.2."
[ WARN] [1490210122.310792212]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210122.029053) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201395 timeout was 0.2."
[ WARN] [1490210122.514743209]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210122.249627) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201513 timeout was 0.2."
[ WARN] [1490210122.718691134]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210122.416467) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201446 timeout was 0.2."
[ WARN] [1490210122.922658754]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210122.646202) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201797 timeout was 0.2."
[ WARN] [1490210123.132765353]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210122.868527) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201764 timeout was 0.2."
[ INFO] [1490210123.273730947]: Reading parameters from the ROS server...
[ INFO] [1490210123.291117940]: rtabmap: Database version = "0.11.13".
[ WARN] [1490210123.336816641]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210123.041173) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201497 timeout was 0.2."
[ INFO] [1490210123.350229035]: /rtabmap/rtabmap: queue_size    = 10
[ INFO] [1490210123.350286724]: /rtabmap/rtabmap: rgbd_cameras = 1
[ INFO] [1490210123.350328350]: /rtabmap/rtabmap: approx_sync   = true
[ INFO] [1490210123.350435067]: Setup depth callback
[ INFO] [1490210123.462930202]: 
/rtabmap/rtabmap subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth/depth_registered,
   /camera/rgb/camera_info
[ INFO] [1490210123.463038945]: rtabmap 0.11.13 started...
[ INFO] [1490210123.485488804]: Parameters read = 257
[ INFO] [1490210123.485525750]: Parameters successfully read.
[ WARN] [1490210123.549364892]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210123.279896) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201724 timeout was 0.2."
[ INFO] [1490210123.675614294]: /rtabmap/rtabmapviz: queue_size    = 10
[ INFO] [1490210123.675666675]: /rtabmap/rtabmapviz: rgbd_cameras = 1
[ INFO] [1490210123.675690980]: /rtabmap/rtabmapviz: approx_sync   = true
[ INFO] [1490210123.675740428]: Setup depth callback
[ WARN] [1490210123.753371901]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210123.457299) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201773 timeout was 0.2."
[ INFO] [1490210123.786050997]: 
/rtabmap/rtabmapviz subscribed to (approx sync):
   /rtabmap/odom,
   /camera/rgb/image_rect_color,
   /camera/depth/depth_registered,
   /camera/rgb/camera_info,
   /rtabmap/odom_info
[ INFO] [1490210123.786135505]: rtabmapviz started.
[ WARN] [1490210123.968184128]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210123.693297) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201534 timeout was 0.2."
[ WARN] [1490210124.172313916]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210123.878151) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201697 timeout was 0.2."
[ WARN] [1490210124.389844993]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210124.120955) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201502 timeout was 0.2."
[ WARN] [1490210124.593676559]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210124.297980) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201478 timeout was 0.2."
[ WARN] [1490210124.797748728]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210124.525978) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201472 timeout was 0.2."
[ WARN] [1490210125.017628917]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210124.748884) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201678 timeout was 0.2."
[ WARN] [1490210125.223773136]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210124.931996) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201814 timeout was 0.2."
[ WARN] [1490210125.429876918]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210125.116921) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201738 timeout was 0.2."
[ WARN] [1490210125.640427215]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210125.368519) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201542 timeout was 0.2."
[ WARN] [1490210125.844448329]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210125.546922) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201582 timeout was 0.2."
[ WARN] [1490210126.048116184]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210125.770713) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201425 timeout was 0.2."
[ WARN] [1490210126.252137925]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210125.945416) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201469 timeout was 0.2."
[ WARN] [1490210126.455979056]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210126.176382) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201567 timeout was 0.2."
[ WARN] [1490210126.664772494]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210126.399602) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201554 timeout was 0.2."
[ WARN] [1490210126.869514298]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210126.572293) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201658 timeout was 0.2."
[ WARN] [1490210127.077959647]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210126.810060) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.20202 timeout was 0.2."
[ WARN] [1490210127.282370262]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210126.980296) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201476 timeout was 0.2."
[ WARN] [1490210127.486679119]: odometry: Could not get transform from camera_link to /ZED_left_camera (stamp=1490210127.205820) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error=". canTransform returned after 0.201946 timeout was 0.2."

When adding the missing TF to /zed_current_frame -> /ZED_left_camera:

[ INFO] [1490210324.674563730]: Odom: quality=104, std dev=0.000929m|0.000676rad, update time=0.042725s
[ INFO] [1490210324.720396979]: Odom: quality=117, std dev=0.000712m|0.000345rad, update time=0.042102s
[ INFO] [1490210324.780766710]: Odom: quality=91, std dev=0.000646m|0.000422rad, update time=0.055222s
[ INFO] [1490210324.819878120]: Odom: quality=133, std dev=0.000736m|0.000581rad, update time=0.027264s
[ INFO] [1490210324.872434187]: Odom: quality=123, std dev=0.000883m|0.000645rad, update time=0.029083s
[ INFO] [1490210324.944438439]: Odom: quality=106, std dev=0.000517m|0.000275rad, update time=0.041484s
[ INFO] [1490210325.008146846]: Odom: quality=113, std dev=0.000752m|0.000595rad, update time=0.035414s
[ INFO] [1490210325.034209178]: rtabmap (1): Rate=1.00s, Limit=0.000s, RTAB-Map=0.4628s, Maps update=0.0067s pub=0.0006s (local map=1, WM=1)
[ INFO] [1490210325.077120425]: Odom: quality=123, std dev=0.001013m|0.000814rad, update time=0.036080s
[ INFO] [1490210325.134421418]: Odom: quality=103, std dev=0.000530m|0.000369rad, update time=0.032154s
[ INFO] [1490210325.210774180]: Odom: quality=125, std dev=0.000658m|0.000454rad, update time=0.033096s
[ INFO] [1490210325.267592084]: Odom: quality=105, std dev=0.000705m|0.000414rad, update time=0.027960s
[ INFO] [1490210325.337363944]: Odom: quality=127, std dev=0.000775m|0.000409rad, update time=0.030469s
[ INFO] [1490210325.419820594]: Odom: quality=130, std dev=0.000913m|0.000588rad, update time=0.041098s
[ INFO] [1490210325.467979619]: rtabmap (2): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1254s, Maps update=0.0013s pub=0.0004s (local map=1, WM=1)
[ INFO] [1490210325.483478161]: Odom: quality=121, std dev=0.000934m|0.000648rad, update time=0.038697s
[ INFO] [1490210325.545799949]: Odom: quality=114, std dev=0.000569m|0.000223rad, update time=0.027600s
[ INFO] [1490210325.626370754]: Odom: quality=127, std dev=0.000476m|0.000389rad, update time=0.043699s
[ INFO] [1490210325.689138966]: Odom: quality=114, std dev=0.000864m|0.000673rad, update time=0.034958s
[ INFO] [1490210325.757259507]: Odom: quality=122, std dev=0.001031m|0.000820rad, update time=0.040375s
[ INFO] [1490210325.832399342]: Odom: quality=122, std dev=0.001541m|0.001183rad, update time=0.043826s
[ INFO] [1490210325.894133279]: Odom: quality=102, std dev=0.000625m|0.000498rad, update time=0.038509s
[ INFO] [1490210325.959232781]: Odom: quality=134, std dev=0.000977m|0.000677rad, update time=0.029600s
[ INFO] [1490210326.011453964]: Odom: quality=103, std dev=0.000744m|0.000558rad, update time=0.029359s
[ INFO] [1490210326.077886244]: Odom: quality=99, std dev=0.001066m|0.000738rad, update time=0.029439s
[ INFO] [1490210326.148119897]: Odom: quality=153, std dev=0.000929m|0.000510rad, update time=0.031076s
[ INFO] [1490210326.217347630]: Odom: quality=121, std dev=0.000756m|0.000386rad, update time=0.029219s
[ INFO] [1490210326.282076001]: Odom: quality=126, std dev=0.000814m|0.000575rad, update time=0.031420s
[ INFO] [1490210326.351671516]: Odom: quality=122, std dev=0.000599m|0.000226rad, update time=0.033645s
[ INFO] [1490210326.442984909]: Odom: quality=143, std dev=0.000739m|0.000645rad, update time=0.043409s
[ INFO] [1490210326.492546203]: rtabmap (3): Rate=1.00s, Limit=0.000s, RTAB-Map=0.1348s, Maps update=0.0032s pub=0.0003s (local map=1, WM=1)
[ INFO] [1490210326.508064161]: Odom: quality=117, std dev=0.000738m|0.000456rad, update time=0.040052s
[ INFO] [1490210326.573146346]: Odom: quality=119, std dev=0.000806m|0.000592rad, update time=0.033314s
[ INFO] [1490210326.638907874]: Odom: quality=107, std dev=0.001002m|0.000675rad, update time=0.029622s

TF tree ($rosrun tf view_frames) when everything is running:

cheers,
Mathieu

mincrmatt12

Re: rtabmap-ros/rtabmap is not publishing a map->odom transform

Some combination of that and using the zed_wrapper_node alone as it says in the tutorial ended up solving the problem! Thanks!