rtabmap ros2 zed2i

Posted by loleklel on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros2-zed2i-tp10335.html

Hello,

I just want to get running my zed2i camera (only this device for now) and slam rtabmap. Are there maybe any other options to get SLAM running for this setup?

my setup:
ubuntu 22.04, ros2 humble, zed2i
ZED SDK 4.1.3, CUDA 12.6, Nvidia Driver 560.28.03
last branch rtabmap
last branch zed_wrapper

I tried to launch:
ros2 launch rtabmap_launch rtabmap.launch.py and
ros2 run rtabmap_slam rtabmap --ros-args -r odom:=/zed/zed_node/odom -r rgb/image:=/zed/zed_node/rgb_raw/image_raw_color -r depth/image:=/zed/zed_node/depth/depth_registered -r rgb/camera_info:=/zed/zed_node/rgb/camera_info

and still get errors:
[ WARN] (2024-08-08 14:35:40.222) MsgConversion.cpp:1994::getTransform() (can transform odom -> base_link?) Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist. canTransform returned after 0.20125 timeout was 0.2. (wait_for_transform=0.200000)
[WARN] [1723120540.222579218] [rtabmap]: We received odometry message, but we cannot get the corresponding TF odom->base_link at data stamp 1723120539.975974s (odom msg stamp is 1723120539.975974s). Make sure TF of odometry is also published to get more accurate pose estimation. This warning is only printed once.
[ WARN] (2024-08-08 14:35:40.424) MsgConversion.cpp:1994::getTransform() (can transform base_link -> zed_left_camera_optical_frame?) Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist. canTransform returned after 0.20191 timeout was 0.2. (wait_for_transform=0.200000)
[ERROR] (2024-08-08 14:35:40.424) MsgConversion.cpp:2177::convertRGBDMsgs() TF of received image 0 at time 1723120539.975974s is not set!
[ERROR] [1723120540.424660542] [rtabmap]: Could not convert rgb/depth msgs! Aborting rtabmap update...
[ WARN] (2024-08-08 14:35:40.630) MsgConversion.cpp:1994::getTransform() (can transform odom -> base_link?) Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist. canTransform returned after 0.201538 timeout was 0.2. (wait_for_transform=0.200000)
[ WARN] (2024-08-08 14:35:40.835) MsgConversion.cpp:1994::getTransform() (can transform odom -> base_link?) Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist. canTransform returned after 0.2013 timeout was 0.2. (wait_for_transform=0.200000)
[ WARN] (2024-08-08 14:35:41.040) MsgConversion.cpp:1994::getTransform() (can transform odom -> base_link?) Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist. canTransform returned after 0.201575 timeout was 0.2. (wait_for_transform=0.200000)
[ WARN] (2024-08-08 14:35:41.246) MsgConversion.cpp:1994::getTransform() (can transform odom -> base_link?) Invalid frame ID "base_link" passed to canTransform argument source_frame - frame does not exist. canTransform returned after 0.201538 timeout was 0.2. (wait_for_transform=0.200000)
[ WARN] (2024-08-08 14:35:41.448) MsgConversion.cpp:1994::getTransform() (can transform base_link -> zed_left_camera_optical_frame?) Invalid frame ID "base_link" passed to canTransform argument target_frame - frame does not exist. canTransform returned after 0.201519 timeout was 0.2. (wait_for_transform=0.200000)
[ERROR] (2024-08-08 14:35:41.448) MsgConversion.cpp:2177::convertRGBDMsgs() TF of received image 0 at time 1723120540.976142s is not set!
[ERROR] [1723120541.448482887] [rtabmap]: Could not convert rgb/depth msgs! Aborting rtabmap update...

I am not sure how to change frame_id and what should I change? I tried to edit "rtabmap.launch.py" from "base_link" to "camera_link" without success. If I run "rtabmap_slam" I don't know how can I change the frame_id at all.

Any help would be appreciated.

Cheers,
Robin