What is the Correct TF tree for rgbdslam?

asked 2016-11-16 07:00:35 -0600

schrottulk gravatar image

updated 2016-11-16 13:35:17 -0600

Hi there,

I have the RGBD SLAM v2 package running on a Core i7 computer with IntelĀ® Iris 6100 (Broadwell GT3) . The computer runs Ubuntu 14.04 and ROS Indigo. I have a turtlebot with a Microsoft Kinect 360 (first version) connected.

I just want to start the RGBDSLAM with

roslaunch turtlebot_bringup minimal.launch
roslaunch openni_launch openni.launch     (if I use freenect here I encounter the same problems.. )
roslaunch rgbdslam rgbdslam.launch

It works fine but I get these warnings below:

[ WARN] [1479299341.614420065]: TF2 exception:
The tf tree is invalid because it contains a loop.
Frame camera_depth_optical_frame exists with parent camera_depth_frame.
Frame camera_depth_frame exists with parent camera_rgb_frame.
Frame camera_rgb_frame exists with parent base_link.
Frame camera_link exists with parent camera_rgb_frame.
Frame base_footprint exists with parent odom.
Frame camera_rgb_optical_frame exists with parent camera_rgb_frame.
Frame base_link exists with parent base_footprint.
Frame caster_back_link exists with parent base_link.
Frame caster_front_link exists with parent base_link.
Frame cliff_sensor_front_link exists with parent base_link.
Frame cliff_sensor_left_link exists with parent base_link.
Frame cliff_sensor_right_link exists with parent base_link.
Frame gyro_link exists with parent base_link.
Frame plate_bottom_link exists with parent base_link.
Frame plate_middle_link exists with parent base_link.
Frame plate_top_link exists with parent base_link.
Frame pole_bottom_0_link exists with parent base_link.
Frame pole_bottom_1_link exists with parent base_link.
Frame pole_bottom_2_link exists with parent base_link.
Frame pole_bottom_3_link exists with parent base_link.
Frame pole_bottom_4_link exists with parent base_link.
Frame pole_bottom_5_link exists with parent base_link.
Frame pole_kinect_0_link exists with parent base_link.
Frame pole_kinect_1_link exists with parent base_link.
Frame pole_middle_0_link exists with parent base_link.
Frame pole_middle_1_link exists with parent base_link.
Frame pole_middle_2_link exists with parent base_link.
Frame pole_middle_3_link exists with parent base_link.
Frame pole_top_0_link exists with parent base_link.
Frame pole_top_1_link exists with parent base_link.
Frame pole_top_2_link exists with parent base_link.
Frame pole_top_3_link exists with parent base_link.
Frame wheel_left_link exists with parent base_link.
Frame wheel_right_link exists with parent base_link.
Frame map exists with parent openni_rgb_optical_frame.

[ WARN] [1479299342.479377857]: Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation (This message is throttled to 1 per 5 seconds)

My tf tree looks like this: tf_tree

What I already tried:

I thought I should connect the openni_rgb_optical_frame to the camera_rgb_optical_frame. Thus I changed the name from openni_rgb_optical_frame to camera_rgb_optical_frame in the rgbdslam/src/parameterservice.cpp Now the TF trees are connected but I still get the warning "The tf tree is invalid because it contains a loop" above.

Has anyone an idea about this or can just post a picture of his tf-tree ? Thanks in advance!

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Comments

Did you get any idea for the same ?

chris_sunny gravatar imagechris_sunny ( 2018-02-08 22:52:42 -0600 )edit

I have exactly the same problem. Did you come up with any solution?

VagZikopis gravatar imageVagZikopis ( 2019-04-05 04:59:27 -0600 )edit