Official RTAB-Map Forum - Re: Problems with launch and mapping

Re: Problems with launch and mapping

Posted by denzle on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Problems-with-launch-and-mapping-tp6808p6828.html

Hi Mathieu,

Thanks for your reply. I did use the test.launches as a basis but they don't seem to work for even after much adapting. The lidar unit just keeps spinning up and cutting out along with rtab crashing or just not working.

I did build with libpointmatcher, I'm not sure if theres anything else i need to do but the cmake file says it's been found.

Here's the slightly modified output from using the test_ouster.launch for example:

 [ WARN] [1596640722.998545181]: /rtabmap/rtabmapviz: 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/rtabmapviz subscribed to (approx sync):
   /os1_cloud_node/points \
   /rtabmap/odom_info
[ WARN] [1596640723.044086099]: odometry: Could not get transform from os1_sensor_stabilized to os1_sensor (stamp=10331.743773) after 0.100000 seconds ("wait_for_transform_duration"=0.100000)! Error="canTransform: target_frame os1_sensor_stabilized does not exist.. canTransform returned after 0.101004 timeout was 0.1."
[ERROR] [1596640723.044177295]: "guess_from_tf" is true, but guess cannot be computed between frames "os1_sensor_stabilized" -> "os1_sensor". Aborting odometry update...
[ WARN] [1596640723.157366956]: odometry: Could not get transform from os1_sensor_stabilized to os1_sensor (stamp=10331.843684) after 0.100000 seconds ("wait_for_transform_duration"=0.100000)! Error="canTransform: target_frame os1_sensor_stabilized does not exist.. canTransform returned after 0.100756 timeout was 0.1."
[ERROR] [1596640723.157455852]: "guess_from_tf" is true, but guess cannot be computed between frames "os1_sensor_stabilized" -> "os1_sensor". Aborting odometry update...
[ WARN] [1596640723.269733145]: odometry: Could not get transform from os1_sensor_stabilized to os1_sensor (stamp=10331.943613) after 0.100000 seconds ("wait_for_transform_duration"=0.100000)! Error="canTransform: target_frame os1_sensor_stabilized does not exist.. canTransform returned after 0.100826 timeout was 0.1."

Thanks
Dan