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Hi,

On your second call, the visual odometry node is not started, so it is why rtabmap is complaining that there is no odometry TF between /odom and /base_footprint. Try this instead:

$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch localization:=true rgbd_odometry:=true

Note that if you are on the actual robot, you may want to use the odometry TF/topic from turtlebot.

cheers