Error when run rtabmap_ros on Nao robot

Posted by Robin-Wu on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-when-run-rtabmap-ros-on-Nao-robot-tp5110.html

I am a newer in Ros and Rtabmap_ros ,and  I want to run the Rtabmap_ros  with xbox 360 on NAO robot ,so  I make a  simple  launch file but i have some  questions:
(1)the 3d map is update but my Robot is not move

(2)the map is not  on horizon  

I think is the problem of tf between /base_link and /camera_link  ,but I have no idea to solve it
and my simple launch file is :
 

<launch>
 
  <node pkg="tf" type="static_transform_publisher" name="kinect_to_base_link"
       args="$0 0 0.2 0 0 0  /base_link /camera_link 100" > 
  </node>

 
  <include file="$(find openni_launch)/launch/openni.launch">
    <arg name="depth_registration" value="true"/>
  </include>
 
 
  <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
    <arg name="rtabmap_args"      value="--delete_db_on_start"/>
    <arg name="frame_id"          value="/base_link"/>
    <arg name="rtabmapviz"        value="true"/>
   
  </include>
 
</launch>