Re: Lidar + RGB

Posted by tteresi7 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lidar-RGB-tp7181p7620.html

Mikor wrote

Hello tteresi7, check this configuration it is using only a topic containing sensor_msgs/Pointcloud2.

I attempted this and I get this repeatedly.

"[ERROR] (2021-03-10 02:06:06.472) RegistrationIcp.cpp:1473::computeTransformationImpl() RegistrationIcp cannot do registration with a null guess.
[ WARN] (2021-03-10 02:06:06.472) OdometryF2M.cpp:557::computeTransform() Registration failed: "RegistrationIcp cannot do registration with a null guess."
[ INFO] [1615341966.474929925]: Odom: ratio=0.000000, std dev=0.000000m|0.000000rad, update time=0.002614s"

And the visualization just refreshes to show the current point cloud.  I'm guessing this config file is also looking for a transformation or odom as well?