Cannot display on custom sensor: Warning: Odometry could not get transform, Error in process()
Posted by TamirEll on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Cannot-display-on-custom-sensor-Warning-Odometry-could-not-get-transform-Error-in-process-tp7204.html
Hello!
I would like to start with some kudos about this awesome project!
I am trying to integrate a new sensor. To which I already implemented a ROS layer which publishes Depth, RGB and IMU messages.
When trying to start rtab, I am getting some warnings and something is clearly not working.
The RGB image is registered to Depth(meaning if there is no depth data for a pixel, its value is empty or black).
Maybe this is the issue? should it be the other way around(depth registered to RGB, so the RGB is intact)?
This is the command I use to start:
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 \
frame_id:=camera_link \
approx_sync:=true
and these are the Error & warnings I get:
[ INFO] [1606409721.685517570]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.061583s
[ WARN] (2020-11-26 18:55:21.743) OdometryF2M.cpp:1256::computeTransform() 20 visual features required to initialize the odometry (only 1000 extracted).
[ INFO] [1606409721.743502554]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.056421s
[ERROR] (2020-11-26 18:55:21.748) Rtabmap.cpp:1095::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 182 is ignored!
[ INFO] [1606409721.748633005]: rtabmap (0): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0001s, Maps update=0.0000s pub=0.0000s (local map=0, WM=0)
[ WARN] [1606409721.827163777]: Could not get transform from odom to camera_link after 0.200000 seconds (for stamp=1606409721.212329)! Error="canTransform: target_frame odom does not exist. canTransform: source_frame camera_link does not exist.. canTransform returned after 0.200893 timeout was 0.2.".
Your help is greatly appreciated!
URL: http://official-rtab-map-forum.206.s1.nabble.com/Cannot-display-on-custom-sensor-Warning-Odometry-could-not-get-transform-Error-in-process-tp7204.html
Hello!
I would like to start with some kudos about this awesome project!
I am trying to integrate a new sensor. To which I already implemented a ROS layer which publishes Depth, RGB and IMU messages.
When trying to start rtab, I am getting some warnings and something is clearly not working.
The RGB image is registered to Depth(meaning if there is no depth data for a pixel, its value is empty or black).
Maybe this is the issue? should it be the other way around(depth registered to RGB, so the RGB is intact)?
This is the command I use to start:
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 \
frame_id:=camera_link \
approx_sync:=true
and these are the Error & warnings I get:
[ INFO] [1606409721.685517570]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.061583s
[ WARN] (2020-11-26 18:55:21.743) OdometryF2M.cpp:1256::computeTransform() 20 visual features required to initialize the odometry (only 1000 extracted).
[ INFO] [1606409721.743502554]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.056421s
[ERROR] (2020-11-26 18:55:21.748) Rtabmap.cpp:1095::process() RGB-D SLAM mode is enabled, memory is incremental but no odometry is provided. Image 182 is ignored!
[ INFO] [1606409721.748633005]: rtabmap (0): Rate=1.00s, Limit=0.000s, RTAB-Map=0.0001s, Maps update=0.0000s pub=0.0000s (local map=0, WM=0)
[ WARN] [1606409721.827163777]: Could not get transform from odom to camera_link after 0.200000 seconds (for stamp=1606409721.212329)! Error="canTransform: target_frame odom does not exist. canTransform: source_frame camera_link does not exist.. canTransform returned after 0.200893 timeout was 0.2.".
Your help is greatly appreciated!
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