Re: '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-tp6107p6123.html

Hi Mathieu,

Thank you very much for your reply. Using the demo_turtlebot_mapping.launch from 0.19 version fixed the angular variance error as you mentioned. However, even 5 minutes after launching rtabmap, the tf warning (Warning #1below) and (Warning #2 below) "didnot receive data" continued to appear

Hence as suggested in this page , I executed the command static_transform_publisher 1 0 0 0 0 0 1 map odom in a new terminal and after that tf warning(Warning #1) went away. however, I still get the Warning #2

Warning #1
[ WARN] [1565444430.804897254, 355.054000000]: 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.
Warning #2
[ WARN] [1565444437.269914070, 356.777000000]: /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).
/rtabmap/rtabmap subscribed to (approx sync):
   /odom,
   /camera/rgb/image_raw,
   /camera/depth/image_raw,
   /camera/rgb/camera_info,
   /scan

How do I proceed from here?

Question #2-
 
As suggested in the same tf page above, Following the instructions to add the Static_transform_publisher command to the launch file did not work. I am afraid i got either the syntax or the location of the command in the launch file wrong.

What is the syntax and where exactly do i insert the command in the launch file so that I don't have to run it manually every time for tf to be published

Attaching the frames.pdf file generated after running the static_transform_publisher command manuallyframes.pdf 

Best regards,

Malar.