'Timed out waiting for transform from base_footprint to map' error when launching rtabmap_ros.

Posted by MalarJN on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Timed-out-waiting-for-transform-from-base-footprint-to-map-error-when-launching-rtabmap-ros-tp6107.html

I am trying to follow the instructions for the simulation portion of this tutorial. However, when I launch rtabmap_ros using roslaunch rtabmap_ros demo_turtlebot_mapping.launch simulation:=true, I get a lot of warnings.

The following warnings come up once and the launch process seems to continue.

Rtabmap: Parameter name changed: "Optimizer/Slam2D" -> "Reg/Force3DoF". Please update your launch file accordingly. Value "true" is still set to the new parameter name.
Setting "Grid/FromDepth" parameter to false (default true) as "subscribe_scan" or "subscribe_scan_cloud" is true. The occupancy grid map will be constructed from laser scans. To get occupancy grid map from cloud projection, set "Grid/FromDepth" to true. To suppress this warning, add param name="Grid/FromDepth" type="string" value="false"/>

The following warnings come up multiple times and the process either is stuck there or it continues to the next set of warnings:

Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist.. canTransform returned after 0.1 timeout was 0.1.
/rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).

The next set of warnings is the following warning multiple times:

Memory.cpp:810::addSignatureToStm() Very large angular variance (500000.000000) detected! Please fix odometry twist covariance, otherwise poor graph optimizations are expected and wrong loop closure detections creating a lot of errors in the map could be accepted.

I ran rosrun tf view_frames and the tf frames output doesn't contain the 'map' node. I think that is causing this issue. I have attached the frames.pdf file here. frames.pdf

How can I fix this for rtabmap_ros to work without any glitches. RTABMap hangs or crashes.

I am using the 0.17.6 version of rtabmap_ros and ROS Kinetic in an Ubuntu 16.04 VM.

Best regards,
Malar.