Re: rosbag rtabmap_ros

Posted by Micke on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rosbag-rtabmap-ros-tp248p250.html

Hello Mathieu,

Well, at first without change anything I got this:

Input depth type is 32FC1, please use type 16UC1 for depth. The depth images will be processed anyway but with a conversion. This warning is only be printed once...
[ WARN] [1426109886.897073983, 1426027326.533805932]: Could not get transform from kinect to /camera_rgb_optical_frame after 1 second!

When I run the modified file (as you told me) I got this:

Input depth type is 32FC1, please use type 16UC1 for depth. The depth images will be processed anyway but with a conversion. This warning is only be printed once...
[ WARN] [1426110264.539881219, 1426027326.534702627]: Could not get transform from world to camera_link after 1 second!

That's my current launch file:

<launch>
(....)
  <group ns="rtabmap">
    <!-- Odometry -->
    <node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
      <param name="frame_id" type="string" value="camera_link"/>
      <!--<param name="frame_id" type="string" value="kinect"/>-->
      (....)
    </node>
    <!-- rename the child frame of odometry -->
   <!-- Do I have to change this too ? -->
    <node name="odom_msg_to_tf" pkg="rtabmap_ros" type="odom_msg_to_tf">
      <param name="frame_id" type="string" value="kinect_est"/>
    </node>
    
    <!-- Visual SLAM -->
    <!-- args: "delete_db_on_start" and "udebug" -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
      <param name="frame_id" type="string" value="camera_link"/>
      <!--<param name="frame_id" type="string" value="kinect"/>-->
      (....)
    </node>
</launch>

TFs recorded:
/tf [tf2_msgs/TFMessage]

Thanks in advance,
Micke.