Re: Cant get map to display using Orbbec Astra Pro

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Cant-get-map-to-display-using-Orbbec-Astra-Pro-tp4984p5093.html

Hi,

To debug your TF tree, you can use:

$ rosrun tf view_frames

"camera_link" is the default "frame_id" set to rtabmap when rtabmap.launch is used. I saw in my previous post that I added also:

$ rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link usb_cam 100

to rotate the camera in ROS coordinates. You may try to start that static_transform_publisher too, so you will get the missing camera_link -> usb_cam frame. So the full example would be:

$ roslaunch rtabmap_ros rtabmap.launch args:="-d" rgb_topic:=/usb_cam/image_raw camera_info_topic:=/usb_cam/camera_info
$ rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link usb_cam 100

cheers,
Mathieu