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-tp3913p4305.html

Hi,

If you use demo_turtlebot_mapping.launch, you should not start rtabmap.launch, like shown in this tutorial: http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot

demo_turtlebot_mapping.launch already starts rtabmap node.

Is the warning appearing often? If not, you can ignore it. It may be just that move_base is trying to get the pose in map frame while the mapping node is not yet initialized.

For the turning behavior, it may be more a move_base related issue, or that your node publishing odometry is publishing wrong values when standing still.

cheers,
Mathieu