Re: Is this the way to use lidar & IMU efficiently?

Posted by n.dafinski on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Is-this-the-way-to-use-lidar-IMU-efficiently-tp7496p8129.html

Hello, I'm interested in using RTABMap with Lidar and IMU as well and I've got a bag of recorded topics from the two, but when I tried running it using the above commands i get the following error: "TF of received scan cloud at time 1622211363.715201s is not set, aborting rtabmap update." and after running `rosbag info` command on the rain_drive.bag i see the topics recorded are:

types:       ouster_ros/PacketMsg    [4f7b5949e76f86d01e96b0e33ba9b5e3]
             rosgraph_msgs/Log       [acffd30cd6b6de30f120938c17c593fb]
             sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
             tf2_msgs/TFMessage      [94810edda583a504dfda3829e70d7eec]
topics:      /os1_cloud_node/points      1233 msgs    : sensor_msgs/PointCloud2
             /os1_node/lidar_packets   157779 msgs    : ouster_ros/PacketMsg   
             /rosout                        7 msgs    : rosgraph_msgs/Log       
(3 connections)
             /tf_static    

in my bag file I am missing the rosout topics and the connections to tf_static, I only have a /os_cloud_node/points topic and my IMU topic, which I guess is what's causing the issues. Is there any way to get the bag to work with just those two topics or do I need to record new data?