Re: 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-tp3913p4299.html

Hi Mathieu,

Thanks a lot for all your help!!

We did get the frames correct and have attached the pdf for the frames in the attachments. However when we run RTAB map_ros the camera frame exhibits weird behaviour. It keep moving in circular manner even though I have held it still. Here
 is the video that demonstrates its behaviour.

The frames.pdf is attached.frames.pdf.

I am turning on turtle bot minimal bringup. Then I run below two commands.

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start"
roslaunch rtabmap_ros demo_turtlebot_mapping.launch

I am also getting the error while executing "roslaunch rtabmap_ros demo_turtlebot_mapping.launch"
"[ERROR] [1519082023.502461535]: Extrapolation Error looking up robot pose: Lookup would require extrapolation into the past.  Requested time 1519082013.378745465 but the earliest data is at time 1519082013.419419050, when looking up transform from frame [base_footprint] to frame [map]"



Thanks,
Nikhil