RTAB map with vins Fusion

Posted by stress526 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-map-with-vins-Fusion-tp6111.html

Hi

I tried RGB-D Handheld Mapping with intel realsense 435i. And I am trying to apply Vins Fusion after I know that I can use Use external odometry.

It was executed using:

roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" depth_topic:=/camera/aligned_depth_to_color/image_raw rgb_topic:=/camera/color/image_raw camera_info_topic:=/camera/color/camera_info approx_sync:=true visual_odometry:=false odom_topic:=/vins_estimator/odometry

After that, 3D map rotates 90 degrees in the direction of the ccw.

Also on the terminal

[ WARN] [1565142019.178442386]: Could not get transform from world to camera_link after 0.200000 seconds (for stamp=1565142018.912843)! Error="Could not find a connection between 'world' and 'camera_link' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.200332 timeout was 0.2."

The phrase is being repeated.

Any feedback would be appreciated.

Thank you.

Sung