Hi when I want to enable Odom with this launch file I would see these erorrs and earnings :
<launch>
<group ns="rtabmap">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<remap from="rgbd_image" to="rgbd_image"/>
</node>
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<remap from="odom" to="/odom"/>
<remap from="scan" to="/scan"/>
<remap from="rgbd_image" to="rgbd_image"/>
</node>
</group>
</launch>
The erorrs :
[ WARN] [1566816329.118024787]: Could not get transform from /odom to base_link after 0.200000 seconds (for stamp=1566816328.837994)! Error="canTransform: source_frame base_link does not exist.. canTransform returned after 0.200467 timeout was 0.2.".
[ WARN] [1566816329.319938219]: Could not get transform from /odom to base_link after 0.200000 seconds (for stamp=1566816329.036138)! Error="canTransform: source_frame base_link does not exist.. canTransform returned after 0.200849 timeout was 0.2.".
[ WARN] [1566816329.525693637]: Could not get transform from /odom to base_link after 0.200000 seconds (for stamp=1566816329.235441)! Error="canTransform: source_frame base_link does not exist.. canTransform returned after 0.201157 timeout was 0.2.".
[ WARN] [1566816329.774160913]: Could not get transform from /odom to base_link after 0.200000 seconds (for stamp=1566816329.334963)! Error="canTransform: source_frame base_link does not exist.. canTransform returned after 0.200654 timeout was 0.2.".
[ WARN] [1566816329.975166581]: Could not get transform from base_link to camera_rgb_optical_frame after 0.200000 seconds (for stamp=1566816329.443000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.200826 timeout was 0.2.".
[ERROR] [1566816329.975248276]: TF of received image 0 at time 1566816329.443000s is not set!
[ERROR] [1566816329.975295540]: Could not convert rgb/depth msgs! Aborting rtabmap update...
Locked
