odometry: Could not get transform from camera_link to camera_rgb_optical_frame

Posted by namjoshiniks on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odometry-Could-not-get-transform-from-camera-link-to-camera-rgb-optical-frame-tp3913.html

Hi Mathieu,

I am trying to implement indoor navigation with iRobot Create2, PrimeSense Camera,Jetson TX2  using Rtabmap. I am able to run Rtabmap ros successfully with camera but when I launch turtlebot minimal bring up I get the warning as follows:



The camera co-ordinate frame starts moving in the rtabmapviz even when the camera is stationary. This happens only after launching turtlebot, otherwise it works fine.

I checked the tf and before running turtlebot minimal bringup launch file I  get frames as below:
frames.wo.turtlebot.pdf

and the frames generated after turtlebpt bringup is as below:
frames.with.turtlebot.pdf

Turtlebot launch file creates an odometry topic named as /odom. The topic name is same as the name /odom which is created by rtabmap. Not sure if same topic names in different nodes is causing the issue or not, but seems like the issue is revolving around odometry data. Please assist me in this issue.

Thanks,
Nikhil Namjoshi