ERROR: "guess_frame_id" is set, but guess cannot be computed between frames "odom" -> "base_link". Aborting odometry update...

Posted by Masoumeh on
URL: http://official-rtab-map-forum.206.s1.nabble.com/ERROR-guess-frame-id-is-set-but-guess-cannot-be-computed-between-frames-odom-base-link-Aborting-odom-tp8439.html

Hi matteu,
after that i run a bag file, and then rtabmap, it shows me the following error:

"guess_frame_id" is set, but guess cannot be computed between frames "odom" -> "base_link". Aborting odometry update...

I have activeted the icp_odometry, and I have the following setting in rtabmap.launch file:

 
    <arg if="$(arg icp_odometry)" name="icp_odometry" value="true" />
    <arg if="$(arg icp_odometry)" name="odom_guess_frame_id" value="odom" />
    <arg if="$(arg icp_odometry)" name="vo_frame_id" value="icp_odom" />
    <arg unless="$(arg slam2d)"   name="wait_imu_to_init" value="true" />
    <arg if="$(arg lidar3d)"      name="odom_args" value="--Icp/CorrespondenceRatio 0.01"/>



 <arg name="frame_id"                default="base_link"/>     
  <arg name="odom_frame_id"           default="icp_odom"/>     
  <arg name="odom_frame_id_init"      default=""/>   
  <arg name="map_frame_id"            default="map"/

How can i resolve this error?