Posted by
Masoumeh on
URL: http://official-rtab-map-forum.206.s1.nabble.com/problem-after-activating-visual-odometry-tp8947.html
hi mattieu,
1) I am lauching demo_husky .launch and i have activated visual odometry and deactivated icp-odometry. but after launching this demo, i can see that it has considered odom_frame_id: /odometry/filtered, while this is a topic not a frame (the output is in the following)!!!
I checked the rtabmap.launch file. and i found that it has defined :<arg name="vo_frame_id" default="$(arg odom_topic)"/> ??why?
because of this in rviz i have an error that /rtabmap/vo cannot be published because :
Transform [sender=unknown_publisher]
For frame [/odometry/filtered]: Frame [/odometry/filtered] does not exist
2) when i specify odom as my frame id (<arg name="odom_frame_id" default="odom" />), I can see that i donot have any /odometry/filtered as the input of my /rtabmap/rtabmap node in my graph. is this true? when i need to define odom_frame_id?
so how can i fix these issue? in the following you can find the output in my terminal:
OUTPUT:
[ INFO] [1645383676.814733066]: Initializing nodelet with 8 worker threads.
[ INFO] [1645383676.826961541]: Initializing nodelet with 8 worker threads.
[ INFO] [1645383676.867030291, 1643888397.857823492]: Approximate time sync = true
[ INFO] [1645383676.929902915]: Odometry: frame_id = base_link
[ INFO] [1645383676.929930031]: Odometry: odom_frame_id = /odometry/filtered
[ INFO] [1645383676.929940301]: Odometry: publish_tf = false
[ INFO] [1645383676.929955755]: Odometry: wait_for_transform = true
[ INFO] [1645383676.929974642]: Odometry: wait_for_transform_duration = 0.200000
[ INFO] [1645383676.930001671]: Odometry: initial_pose = xyz=0.000000,0.000000,0.000000 rpy=0.000000,-0.000000,0.000000
[ INFO] [1645383676.930012407]: Odometry: ground_truth_frame_id =
[ INFO] [1645383676.930022495]: Odometry: ground_truth_base_frame_id =
[ INFO] [1645383676.930031667]: Odometry: config_path =
[ INFO] [1645383676.930043701]: Odometry: publish_null_when_lost = false
[ INFO] [1645383676.930052746]: Odometry: guess_frame_id =
[ INFO] [1645383676.930062363]: Odometry: guess_min_translation = 0.000000
[ INFO] [1645383676.930072121]: Odometry: guess_min_rotation = 0.000000
[ INFO] [1645383676.930081138]: Odometry: guess_min_time = 0.000000
[ INFO] [1645383676.930090295]: Odometry: expected_update_rate = 0.000000 Hz
[ INFO] [1645383676.930099571]: Odometry: max_update_rate = 0.000000 Hz
[ INFO] [1645383676.930108448]: Odometry: wait_imu_to_init = false
[ INFO] [1645383676.930129986]: Odometry: stereoParams_=0 visParams_=1 icpParams_=0
[ INFO] [1645383676.975614886]: /rtabmap/rtabmap(maps): map_filter_radius = 0.000000
[ INFO] [1645383676.975645234]: /rtabmap/rtabmap(maps): map_filter_angle = 30.000000
[ INFO] [1645383676.975665161]: /rtabmap/rtabmap(maps): map_cleanup = true
[ INFO] [1645383676.975696049]: /rtabmap/rtabmap(maps): map_always_update = false
[ INFO] [1645383676.975709463]: /rtabmap/rtabmap(maps): map_empty_ray_tracing = true
[ INFO] [1645383676.975720888]: /rtabmap/rtabmap(maps): cloud_output_voxelized = true
[ INFO] [1645383676.975734673]: /rtabmap/rtabmap(maps): cloud_subtract_filtering = false
[ INFO] [1645383676.975748958]: /rtabmap/rtabmap(maps): cloud_subtract_filtering_min_neighbors = 2
[ INFO] [1645383676.991878145]: /rtabmap/rtabmap(maps): octomap_tree_depth = 16
[ INFO] [1645383677.052715882]: rtabmap: frame_id = base_link
[ INFO] [1645383677.052748205]: rtabmap: odom_frame_id = odom
[ INFO] [1645383677.052760406]: rtabmap: map_frame_id = map
[ INFO] [1645383677.052776909]: rtabmap: use_action_for_goal = false
thanks