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rtabmap no map received (TF link base problem)

Hello people i need Help for run rtabmap in my simulation.

Maybe a need change the name link

m600/stereo/cameraleftlink

for:

m600/cameraleftlink

I Don't have idea how to do

My base_frame:

My original topic:

I run the bag:

rosbag play --clock testestereo2019-09-11-12-55-45.bag -l /m600/stereo/left/imageraw/compressed:=/stereocamera/left/imagerawthrottle/compressed /m600/stereo/right/imageraw/compressed:=/stereocamera/right/imagerawthrottle/compressed /m600/stereo/left/camerainfo:=/stereocamera/left/camerainfothrottle /m600/stereo/right/camerainfo:=/stereocamera/right/camerainfothrottle frameid:=m600/baselink

After run bag i'm use the launch

roslaunch vant3dgazebo stereovant3d.launch -v

I Have this output erro:

[ WARN] [1568227586.737636380, 902.368800000]: odometry: Could not get transform from basefootprint to m600/stereo/cameraleftlink (stamp=902.142900) after 0.200000 seconds ("waitfortransformduration"=0.200000)! Error="canTransform: targetframe basefootprint does not exist. canTransform: sourceframe m600/stereo/cameraleft_link does not exist.. canTransform returned after 0.2007 timeout was 0.2."

My launch file

<!--
   Demo of outdoor stereo mapping.
   From bag:
   $ rosbag record
         /stereo_camera/left/image_raw_throttle/compressed
         /stereo_camera/right/image_raw_throttle/compressed
         /stereo_camera/left/camera_info_throttle
         /stereo_camera/right/camera_info_throttle
         /tf

   $ roslaunch rtabmap demo_stereo_outdoor.launch
   $ rosbag play -.-clock stereo_oudoorA.bag
-->

<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="local_bundle" default="true" />
<arg name="stereo_sync" default="false" />

<param name="use_sim_time" type="bool" value="True"/>

<!-- Just to uncompress images for stereo_image_rect -->
<node name="republish_left"  type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/left/image_raw_throttle raw out:=/stereo_camera/left/image_raw_throttle_relay" />
<node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/right/image_raw_throttle raw out:=/stereo_camera/right/image_raw_throttle_relay" />

<!-- Run the ROS package stereo_image_proc for image rectification -->
<group ns="/stereo_camera" >
    <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
        <remap from="left/image_raw"    to="left/image_raw_throttle_relay"/>
        <remap from="left/camera_info"  to="left/camera_info_throttle"/>
        <remap from="right/image_raw"   to="right/image_raw_throttle_relay"/>
        <remap from="right/camera_info" to="right/camera_info_throttle"/>
        <param name="disparity_range" value="128"/>
    </node>

    <node if="$(arg stereo_sync)" pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync">
        <remap from="left/image_rect"   to="left/image_rect_color"/>
        <remap from="right/image_rect"   to="right/image_rect"/>
        <remap from="left/camera_info"   to="left/camera_info_throttle"/>
        <remap from="right/camera_info"   to="right/camera_info_throttle"/>
    </node>
</group>

<group ns="rtabmap">

    <!-- Stereo Odometry -->
    <node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
        <remap from="left/image_rect"       to="/stereo_camera/left/image_rect"/>
        <remap from="right/image_rect"      to="/stereo_camera/right/image_rect"/>
        <remap from="left/camera_info"      to="/stereo_camera/left/camera_info_throttle"/>
        <remap from="right/camera_info"     to="/stereo_camera/right/camera_info_throttle"/>
        <remap from="rgbd_image"            to="/stereo_camera/rgbd_image"/>
        <remap from="odom"                  to="/stereo_odometry"/>

        <param name="subscribe_rgbd"  type="bool" value="$(arg stereo_sync)"/>
        <param name="frame_id"        type="string" value="base_footprint"/>
        <param name="odom_frame_id"   type="string" value="odom"/>

        <param name="Odom/Strategy"      type="string" value="0"/> <!-- 0=Frame-to-Map, 1=Frame=to=Frame -->
        <param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D 1=3D->2D (PnP) -->
        <param name="Vis/MaxDepth"       type="string" value="0"/>
        <param name="Odom/GuessMotion" type="string" value="true"/>
        <param name="Vis/MinInliers"     type="string" value="10"/>
        <param unless="$(arg local_bundle)" name="OdomF2M/BundleAdjustment" type="string" value="0"/>
        <param name="OdomF2M/MaxSize"    type="string" value="1000"/>
        <param name="GFTT/MinDistance"   type="string" value="10"/>
        <param name="GFTT/QualityLevel"  type="string" value="0.00001"/>
        <param name="GFTT/QualityLevel"  type="string" value="0.00001"/>
    </node>

    <!-- Visual SLAM: args: "delete_db_on_start" and "udebug" -->
    <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
        <param name="frame_id"         type="string" value="base_footprint"/>
        <param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
        <param name="subscribe_depth"  type="bool" value="false"/>
        <param name="subscribe_rgbd"      type="bool" value="$(arg stereo_sync)"/>

        <remap from="left/image_rect"   to="/stereo_camera/left/image_rect_color"/>
        <remap from="right/image_rect"  to="/stereo_camera/right/image_rect"/>
        <remap from="left/camera_info"  to="/stereo_camera/left/camera_info_throttle"/>
        <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
        <remap from="rgbd_image"        to="/stereo_camera/rgbd_image"/>

        <remap from="odom" to="/stereo_odometry"/>

        <param name="queue_size" type="int" value="30"/>
        <param name="map_negative_poses_ignored" type="bool" value="true"/>

        <!-- RTAB-Map's parameters -->
        <param name="Rtabmap/TimeThr"                   type="string" value="700"/>
        <param name="Grid/DepthDecimation"              type="string" value="4"/>
        <param name="Grid/FlatObstacleDetected"         type="string" value="true"/>
        <param name="Kp/MaxDepth"                       type="string" value="0"/>
        <param name="Kp/DetectorStrategy"               type="string" value="6"/>
        <param name="Vis/EstimationType"                type="string" value="1"/>   <!-- 0=3D->3D, 1=3D->2D (PnP) -->
        <param name="Vis/MaxDepth"                      type="string" value="0"/>
        <param name="RGBD/CreateOccupancyGrid"          type="string" value="true"/>
    </node>

    <!-- Visualisation RTAB-Map -->
    <node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
        <param unless="$(arg stereo_sync)" name="subscribe_stereo"    type="bool" value="true"/>
        <param name="subscribe_odom_info" type="bool" value="true"/>
        <param name="subscribe_rgbd"      type="bool" value="$(arg stereo_sync)"/>
        <param name="queue_size"          type="int" value="10"/>
        <param name="frame_id"            type="string" value="m600/base_link"/>

        <remap from="left/image_rect"  to="/stereo_camera/left/image_rect_color"/>
        <remap from="right/image_rect"  to="/stereo_camera/right/image_rect"/>
        <remap from="left/camera_info"  to="/stereo_camera/left/camera_info_throttle"/>
        <remap from="right/camera_info" to="/stereo_camera/right/camera_info_throttle"/>
        <remap from="rgbd_image"          to="/stereo_camera/rgbd_image"/>
        <remap from="odom_info"         to="odom_info"/>
        <remap from="odom"              to="/stereo_odometry"/>
        <remap from="mapData"           to="mapData"/>
    </node>

</group>

<!-- Visualisation RVIZ -->
<node if="$(arg rviz)" pkg="rviz" type="rviz" name="rviz" args="-d $(find rtabmap_ros)/launch/config/demo_stereo_outdoor.rviz"/>

Asked by Diogo42 on 2019-09-11 14:49:14 UTC

Comments

This question is a little hard to understand. Can you try to reduce the scope of what you're posting and try to be a little bit more clear about what you want and what's happening and the difference between them? The best questions are simple self contrained examples that we can reproduce: http://sscce.org/

Asked by tfoote on 2019-09-12 13:28:41 UTC

Answers