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

Posted by matlabbe 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-tp6107p6120.html

Hi,

Hopefully, rtabmap on Kinetic will be updated to 0.19 soon, which include latest changes in https://github.com/introlab/rtabmap_ros/blob/master/launch/demo/demo_turtlebot_mapping.launch

You may try to just download that launch file and execute this one instead of the one installed by 0.17.6 binaries. This will fix at least the "Very large angular variance (500000.000000) detected!" warning.

The first warnings are okay, we still use old launch file parameters to keep the example working with oldest rtabmap versions. Those parameters are remapped automatically to new ones, as the warnings said.

For "Timed out waiting for transform from base_footprint to map" warning, let rtabmap starts for a couple of second to have map-> odom frame published.

cheers,
Mathieu