Re: 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-tp8439p8519.html

hi,

odom --> base_link is publishing by robot-localization pkg which is stored in the robot side.

as i activate the icp-odometry, guess frame-id is also activated as well, because of the setting which you have defined:

param name="guess_frame_id"    type="string" value="$(arg odom_guess_frame_id)"

 <arg if="$(arg icp_odometry)" name="icp_odometry" value="true" />         
    <arg if="$(arg icp_odometry)" name="odom_guess_frame_id" value="odom" />      (HERE I MEAN!)
    <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"/>

thanks