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

Posted by matlabbe 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-tp8157p8305.html

Hi,

I cannot reproduce the error when using this launch file: https://github.com/introlab/rtabmap_ros/blob/master/launch/demo/demo_husky.launch

Your tf tree seems ok.

For the scan error, there was indeed an issue with how rtabmap.launch is used in your launch. I fixed this in this launch file, you may do the same for your launch.

Also note there is this warning with that simulation:

[ WARN] [1626278859.153693877, 1346.960000000]: Odometry: Detected not valid consecutive stamps (previous=1346.940000s new=1346.940000s). New stamp should be always greater than previous stamp. This new data is ignored.

The velodyne_points is indeed published two times with same timestamp, not sure where the bug is coming from.

cheers,
Mathieu