Re: Could not get transform from base_link to /camera_rgb_optical_frame

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Could-not-get-transform-from-base-link-to-camera-rgb-optical-frame-tp2921p2925.html

Hi,

There is something strange with TF. You could try to increase "wait_for_transform_duration" parameter for rtabmap and rgbd_odometry nodes to 1 or 2 sec. However, if TF delays are so long, there would be lags in RVIZ. frame_id should be the root fixed frame of the robot, which is /base_link in your case.

/map -> /odom (rtabmap) and /odom -> /base_link (rgbd_odometry) should be working to see something on RVIZ. I think /map ->/odom is not published because rtabmap update aborted (because of missing TF). Odometry seems working, as the logs of Odom are showing quality > 0. If you set fixed frame in RVIZ to /odom, you would see the camera moving.

Not sure why rgbd_odometry works, but not rtabmap in this case. You can copy paste the launch here using Raw text mode (see More button).

cheers,
Mathieu