Re: Could not get transform from odom to camera_depth_optical_frame, RTAB Realsense R200 Issue

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Could-not-get-transform-from-odom-to-camera-depth-optical-frame-RTAB-Realsense-R200-Issue-tp1616p1618.html

When running the bag alone, show tf tree with "$ rosrun tf view_frames"

When running with rtabmap, show again the TF tree. Show also the rqt_graph.

As you are recording /odometry/filtered from the robot, is there also a TF /odom recorded in /tf? Well, we should see that in the first TF tree above.

To start rtabmap:
 - frame_id should be the fixed frame on the robot (like base_link or base_footprint), not odom
 - Is "/camera/depth/image_raw" registered with the color image?
 - Don't need "compressed:=true" if you recorded not compressed

cheers