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-tp8439p8827.html
Dear mattieu,
robot-localization is not depending on icp-odometry.
actually we are using two instances of robot-localization pkg, one of them provide the /odometry/filtered topic for odom->baselink. (local odometry)
the other one provides global odometry (/odometry/filtered_map) between map->odom.
but as i want to do navigation based on gps, I used rtabmap just as a map provider, and I have activated icp-odometry as well to provide the odometry information for merging with the global odometry information.
now my frame is sth like this:
frames_RITA2.pngrosgraph.svgbut now the problem is that:
1) i have ERROR related the guess-frame-id: "guess_frame_id" is set, but guess cannot be computed between frames "odom" -> "base_link"
2) in RVIZ, the vehicle is moving a lot, the lidar points always changing, when the vehicle wants to turn, the point clouds is also turning so the poit cloud is not matched with the 2d map anymore
In the following you can see my launch file:
ekf_se_map:
frequency: 30
sensor_timeout: 0.1
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
map_frame: map
odom_frame: icp_odom
base_link_frame: base_link
world_frame: map
# -------------------------------------
# Wheel odometry:
odom0: /warthog_velocity_controller/odom
odom0_config: [false, false, false,
false, false, false,
true, true, false,
false, false, true,
false, false, false]
odom0_queue_size: 10
odom0_nodelay: true
odom0_differential: false
odom0_relative: false
# -------------------------------------
# GPS odometry:
odom1: /outdoor_waypoint_nav/odometry/gps
odom1_config: [true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
odom1_queue_size: 10
odom1_nodelay: true
odom1_differential: false
odom1_relative: false
# -------------------------------------
# Lidar odometry:
# velocity from odometry
odom2: /rtabmap/odom
odom2_config: [false, false, false,
false, false, false,
true, true, false,
false, false, true,
false, false, false]
odom2_queue_size: 10
odom2_nodelay: true
odom2_differential: true
odom2_relative: false
#..................................................
#Localization_Pose
pose0: /rtabmap/localization_pose
pose0_config: [true, true, false,
false, false, true,
false, false, false,
false, false, false,
false, false, false]
pose0_queue_size: 10
pose0_differential: false
pose0_relative: false
# --------------------------------------
# imu configure:
imu0: /gx5/imu/data
imu0_config: [false, false, false,
false, false, true,
false, false, false,
true, true, false,
true, true, false]
imu0_nodelay: true
imu0_differential: true
imu0_relative: false #
imu0_queue_size: 10
imu0_remove_gravitational_acceleration: true
use_control: false
process_noise_covariance: [1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.5, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.1, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.3]
initial_estimate_covariance: [1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 1.0]