Re: odometry: Could not get transform from camera_link to camera_rgb_optical_frame

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odometry-Could-not-get-transform-from-camera-link-to-camera-rgb-optical-frame-tp3913p3916.html

Hi,

Launch rtabmap without visual odometry. Are you using rtabmap.launch? The argument visual_odometry can be set to false. If you launch turtlebot bringup alone, what TF do you have? The camera would be linked to /base_link and there should be a TF /odom -> /base_link published by turtlebot odometry. You will have to set frame_id of rtabmap to base_link.

$ roslaunch rtabmap_ros rtabmap.launch args:="--delete_db_on_start" visual_odometry:=false frame_id:=base_link

To use visual odometry, you would have to modify turtlebot bringup to not publish /odom -> /base_link transform and remap /odom topic.

cheers,
Mathieu