rtabmap with two d435i

[aditdoshi333]

Hello,

I am trying to run rtabmap on two d435i for better FOV.

Launch file : https://drive.google.com/file/d/1XMKQq15iqIAZtzQp5ZQcYW8CLRLFr7d-/view?usp=sharing

I am getting the following error

[ WARN] [1627307612.319214579]: odometry: Could not get transform from base_link to camera1_color_optical_frame (stamp=1627307611.561805) after 0.100000 seconds ("wait_for_transform_duration"=0.100000)! Error="Could not find a connection between 'base_link' and 'camera1_color_optical_frame' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.103887 timeout was 0.1."
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "camera1_link" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)
         at line 240 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "camera1_link" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "camera1_link" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)
         at line 240 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "camera1_link" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Error:   TF_NAN_INPUT: Ignoring transform for child_frame_id "camera1_link" from authority "unknown_publisher" because of a nan value in the transform (0.000000 0.000000 0.000000) (-nan -nan -nan -nan)
         at line 240 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp
Error:   TF_DENORMALIZED_QUATERNION: Ignoring transform for child_frame_id "camera1_link" from authority "unknown_publisher" because of an invalid quaternion in the transform (-nan -nan -nan -nan)
         at line 255 in /tmp/binarydeb/ros-noetic-tf2-0.7.5/src/buffer_core.cpp



I am not sure whats the issue with launch file. If someone can share working launch file for two d435i it would be great.
Thank you

[matlabbe]

Hi,

this static transform is invalid (7 values: the quaternion is invalid):

<node pkg="tf" type="static_transform_publisher" name="base_to_camera1_tf"
      args="0.0 0.0 0.0 0.0 0.0 0.0 0.0  /base_link  /camera1_link  100" /> 

should be (6 values: x y z yaw pitch roll):

<node pkg="tf" type="static_transform_publisher" name="base_to_camera1_tf"
      args="0.0 0.0 0.0 0.0 0.0 0.0  /base_link  /camera1_link  100" /> 

or (7 values: x y z qx qy qz qw) :

<node pkg="tf" type="static_transform_publisher" name="base_to_camera1_tf"
      args="0.0 0.0 0.0 0.0 0.0 0.0 1.0  /base_link  /camera1_link  100" />