RTABMap rgbd_odometry and intel realsense: Could not get transform from base_link to camera_rgb_optical_frame
I am trying to get visual odometry using Intel RealSense R200 camera. I use realsense_camera package built from source for ROS Lunar on Ubuntu Server 16.04. I use the following launch file:
<launch>
<group ns="rs">
<include file="$(find realsense_camera)/launch/r200_nodelet_default.launch"/>
<node pkg="nodelet" type="nodelet" name="convert_metric"
args="load depth_image_proc/convert_metric camera/nodelet_manager">
<remap from="image_raw" to="/rs/camera/depth/image_raw"/>
<remap from="image" to="image_depth_metric"/>
</node>
<node pkg="nodelet" type="nodelet" name="register"
args="load depth_image_proc/register camera/nodelet_manager">
<remap from="rgb/camera_info" to="camera/color/camera_info"/>
<remap from="depth/camera_info" to="camera/depth/camera_info"/>
<remap from="depth/image_rect" to="image_depth_metric"/>
</node>
</group>
<group ns="rtabmap">
<remap from="rgb/image" to="/rs/camera/color/image_raw"/>
<remap from="depth/image" to="/rs/depth_registered/image_rect"/>
<remap from="rgb/camera_info" to="/rs/camera/depth/camera_info"/>
<!-- Odometry -->
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen"/>
</group>
</launch>
When I launch it, I get the following warning continuously:
[ WARN] [1518261180.467050803]: odometry: Could not get transform from base_link to camera_rgb_optical_frame (stamp=1518261180.341307) after 0.100000 seconds ("wait_for_transform_duration"=0.100000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.102466 timeout was 0.1."
Here is the whole launch output:
crefrod@robot:~/rns$ roslaunch launch.xml
... logging to /home/crefrod/.ros/log/57bdd86c-0e53-11e8-9bfc-0007323fd956/roslaunch-robot-14181.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://robot:33565/
SUMMARY
========
PARAMETERS
* /rosdistro: lunar
* /rosversion: 1.13.5
* /rs/camera/driver/base_frame_id: camera_link
* /rs/camera/driver/camera_type: R200
* /rs/camera/driver/color_fps: 30
* /rs/camera/driver/color_frame_id: camera_rgb_frame
* /rs/camera/driver/color_optical_frame_id: camera_rgb_optica...
* /rs/camera/driver/depth_frame_id: camera_depth_frame
* /rs/camera/driver/depth_optical_frame_id: camera_depth_opti...
* /rs/camera/driver/fisheye_frame_id: camera_fisheye_frame
* /rs/camera/driver/fisheye_optical_frame_id: camera_fisheye_op...
* /rs/camera/driver/imu_frame_id: camera_imu_frame
* /rs/camera/driver/imu_optical_frame_id: camera_imu_optica...
* /rs/camera/driver/ir2_frame_id: camera_ir2_frame
* /rs/camera/driver/ir2_optical_frame_id: camera_ir2_optica...
* /rs/camera/driver/ir_frame_id: camera_ir_frame
* /rs/camera/driver/ir_optical_frame_id: camera_ir_optical...
* /rs/camera/driver/mode: manual
* /rs/camera/driver/serial_no:
* /rs/camera/driver/usb_port_id:
NODES
/rs/
convert_metric (nodelet/nodelet)
register (nodelet/nodelet)
/rtabmap/
rgbd_odometry (rtabmap_ros/rgbd_odometry)
/rs/camera/
driver (nodelet/nodelet)
nodelet_manager (nodelet/nodelet)
auto-starting new master
process[master]: started with pid [14191]
ROS_MASTER_URI=http://localhost:11311
setting /run_id to 57bdd86c-0e53-11e8-9bfc-0007323fd956
process[rosout-1]: started with pid [14204]
started core service [/rosout]
process[rs/camera/nodelet_manager-2]: started with pid [14221]
process[rs/camera/driver-3]: started with pid [14222]
process[rs/convert_metric-4]: started with pid [14223]
process[rs/register-5]: started with pid [14228]
process[rtabmap/rgbd_odometry-6]: started with pid [14245]
[ INFO] [1518261176.542350541]: Initializing nodelet with 4 worker threads.
[ INFO] [1518261176.948816400]: Initializing nodelet with 4 worker threads.
Intel RealSense F200_camera ; 2.60.0.0
Intel RealSense LR200_camera ; 2.0.71.18
Intel RealSense R200_camera ; 1.0.72.06
Intel RealSense SR300_camera ; 3.10.10.0
Intel RealSense ZR300_adapter ; 1.29.0.0
Intel RealSense ZR300_camera ; 2.0.71.28
Intel RealSense ZR300_motion_module ; 1.25.0.0
[ INFO] [1518261176.953064472]: /rs/camera/driver ...