Re: rtabmap_ros: Could not get transform from camera_link to /zed_rgb_optical_frame

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-Could-not-get-transform-from-camera-link-to-zed-rgb-optical-frame-tp828p829.html

Hi,

rgbd_mapping.launch set the "frame_id" argument to "camera_link" by default. You could do:

$ roslaunch rtabmap_ros rgbd_mapping.launch frame_id:=zed_rgb_optical_frame

however, the resulting point cloud will not be in the RTAB-Map or ROS referential. The best is to publish an optical rotation for the camera:

$ rosrun tf static_transform_publisher 0 0.00 0 -1.571 0.0 -1.571 camera_link zed_rgb_optical_frame 100
$ roslaunch rtabmap_ros rgbd_mapping.launch frame_id:=camera_link

cheers,
Mathieu