Re: "guess_frame_id" is set, but guess cannot be computed between frames "odom" -> "base_link"

Posted by Masoumeh on
URL: http://official-rtab-map-forum.206.s1.nabble.com/guess-frame-id-is-set-but-guess-cannot-be-computed-between-frames-odom-base-link-tp8157p8167.html

Dear mattieu

the above error, which i mentioned is for the time that i have the following setting:
<arg name="navigation"   default="true"/>
  <arg name="localization" default="false"/>
  <arg name="icp_odometry" default="true"/>
  <arg name="rtabmapviz"   default="false"/>
  <arg name="camera"       default="false"/>
  <arg name="lidar2d"      default="false"/>
  <arg name="lidar3d"      default="true"/>
  <arg name="lidar3d_ray_tracing" default="true"/>
  <arg name="slam2d"       default="true"/>

here i have attached the tf frame as well.
framess.pdf

the average rate have too much difference.
is the problem because of this? how much they should be?


but when i put the parmeter like this:
<arg name="navigation"   default="true"/>
  <arg name="localization" default="false"/>
  <arg name="icp_odometry" default="false"/>
  <arg name="rtabmapviz"   default="false"/>
  <arg name="camera"       default="false"/>
  <arg name="lidar2d"      default="false"/>
  <arg name="lidar3d"      default="true"/>
  <arg name="lidar3d_ray_tracing" default="true"/>
  <arg name="slam2d"       default="true"/>

I receive the following error:
[ WARN] [1623234196.764057009]: /rtabmap/rtabmap: 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/rtabmap subscribed to (approx sync):
   /odometry/filtered \
   /velodyne_points


the tf frame of this situation is:   frames.pdf

the only difference of these two condition is ICP_odometry, that in the first one i have considered and in the second one, i did not use that.

what do you think? is there any way to fix this issue?
thanks a lot