Visual odometry crashing / robot_localization integration

Posted by dgmiller on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Visual-odometry-crashing-robot-localization-integration-tp997.html

Hi,

The platform i'm using uses an RPLIDAR, ZED stereo camera, UM7 IMU, and a GPS. I'm using robot_localization to fuse the IMU and odometry from rtabmap, and it's republishing a filtered odometry. I'm implementing this on an nvidia Jetson TX1.

the problem i'm encountering is there is no transform from odom to base_link. even when i dont use robot_localization, rtabmap crashes giving the following error, and i no longer have the tf's. any idea why?

also has anyone else tried to integrate robot_localization with rtabmap?

[ WARN] [1452540708.591497270]: rtabmapviz: Could not get transform from odom to base_link after 0.100000 seconds!
[ INFO] [1452540708.696664357]: Odom: quality=801, std dev=0.035333m, update time=0.201326s
[ WARN] [1452540708.804998170]: rtabmapviz: Could not get transform from odom to base_link after 0.100000 seconds!
[ WARN] [1452540708.815121931]: rtabmap: Could not get transform from odom to base_link after 0.100000 second!
[ INFO] [1452540708.907578992]: Odom: quality=812, std dev=0.035093m, update time=0.199792s
[ WARN] [1452540709.026313645]: rtabmapviz: Could not get transform from odom to base_link after 0.100000 seconds!
[ INFO] [1452540709.113831557]: Odom: quality=815, std dev=0.035028m, update time=0.194555s
[ INFO] [1452540709.337515799]: Odom: quality=818, std dev=0.034964m, update time=0.212154s
[ INFO] [1452540709.578029904]: Odom: quality=798, std dev=0.035400m, update time=0.225436s
[ INFO] [1452540709.807905724]: Odom: quality=815, std dev=0.035028m, update time=0.212658s
[ INFO] [1452540710.004127131]: rtabmap: Rate=1.00s, Limit=0.000s, RTAB-Map=0.1858s, Pub=0.0027s (local map=1, WM=1)
[ INFO] [1452540710.045138782]: Odom: quality=824, std dev=0.034837m, update time=0.216143s
[rtabmap/rtabmapviz-7] process has died [pid 4500, exit code -7, cmd /opt/ros/indigo/lib/rtabmap_ros/rtabmapviz -d /opt/ros/indigo/share/rtabmap_ros/launch/config/rgbd_gui.ini odom:=/odometry/filtered rgb/image:=/rgb/image_raw depth/image:=/depth/image_raw rgb/camera_info:=/camera/rgb/camera_info scan:=/scan __name:=rtabmapviz __log:=/home/ubuntu/.ros/log/7b7525c0-b898-11e5-a528-00904c112233/rtabmap-rtabmapviz-7.log].
log file: /home/ubuntu/.ros/log/7b7525c0-b898-11e5-a528-00904c112233/rtabmap-rtabmapviz-7*.log