Troubleshoot using rtabmap with zed 2

Posted by shihab_haque on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Troubleshoot-using-rtabmap-with-zed-2-tp6892.html

Hello ! When I tried to use rtabmap.launch with the zed2 camera, i frequently got warning messages saying :

Could not get transform from odom to base_link after 0.200000 seconds (for stamp=1599254522.535097)! Error="Lookup would require extrapolation into the past.  Requested time 1599254522.535096984 but the earliest data is at time 1599299099.096750700, when looking up transform from frame [base_link] to frame [odom]. canTransform returned after 0.201644 timeout was 0.2.".


I used the example launch file included in the package with parameters:

roslaunch rtabmap_ros rtabmap.launch \
    rtabmap_args:="--delete_db_on_start" \
    rgb_topic:=/zed2/left/image_rect_color \
    depth_topic:=/zed2/depth/depth_registered \
    camera_info_topic:=/zed2/left/camera_info \
    frame_id:=base_link


* I didn't set approx_sync:=false , did this cause the problem?