Re: RTABMAP ROS with bag files

Posted by Sebb on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-ROS-with-bag-files-tp3556p3581.html

Hi,

Thanks a lot for your support. I have to admit that I am lost with the required tf. Right now, I only have information from a prototype 3D camera which is basically publishing the depth, info and image raw topics.

Your solution helps however, I can get voxel dat in rviz if I change the global frame to camera_rgb_optical_frame but I also get:

[ WARN] [1502113064.630043437]: rtabmap: Could not get transform from camera_rgb_optical_frame to camera_depth_optical_frame after 1.000000 seconds (for stamp=1501769117.492518)!
[ERROR] [1502113064.630185773]: TF of received depth image 0 at time 1501769117.492518s is not set, aborting rtabmap update.

Cheers,
Seb