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/camera_left_link
for:
m600/camera_left_link
I Don't have idea how to do
My base_frame:
- m600/base_link
- m600/camera_left_link
- m600/camera_left_optical_link
My original topic:
- /m600/stereo/left/image_raw/compressed
- /m600/stereo/right/image_raw/compressed
- /m600/stereo/left/camera_info
- /m600/stereo/right/camera_info -/tf
I run the bag:
rosbag play --clock teste_stereo_2019-09-11-12-55-45.bag -l /m600/stereo/left/image_raw/compressed:=/stereo_camera/left/image_raw_throttle/compressed /m600/stereo/right/image_raw/compressed:=/stereo_camera/right/image_raw_throttle/compressed /m600/stereo/left/camera_info:=/stereo_camera/left/camera_info_throttle /m600/stereo/right/camera_info:=/stereo_camera/right/camera_info_throttle frame_id:=m600/base_link
After run bag i'm use the launch
roslaunch vant3d_gazebo stereo_vant3d.launch -v
I Have this output erro:
[ WARN] [1568227586.737636380, 902.368800000]: odometry: Could not get transform from base_footprint to m600/stereo/camera_left_link (stamp=902.142900) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_footprint does not exist. canTransform: source_frame m600/stereo/camera_left_link does not exist.. canTransform returned after 0.2007 timeout was 0.2."
My launch file
<launch>
<!--
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 ...
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/