How to get pose from rtabmap rgbd_odometry with Kinect
Hi,
I am having trouble using rgbd_odometry
from rtabmap_ros
package.
I would like to subscribe to the published topic odom
(nav_msgs/Odometry
) so that I can compute the pose of my robot over time.
Using laser_scan_matcher
and hokuyo
, for example, I subscribe to a topic named pose_stamped (geometry_msgs/PoseStamped
) with this same goal.
I don't care about mapping right now. I just want the pose over time, in order to plot the path my robot displaced.
I am typing the following commands:
roslaunch openni_launch openni.launch`
and
rosrun rtabmap_ros rgbd_odometry rgb/image:=/camera/rgb/image_raw dep/image:=/camera/depth/image rgb/camera_info:=/camera/rgb/camera_info
I can echo the three remaped topics above, but i keep receiving this warning about the base_link.
[ WARN] [1521072121.902733559]: odometry: Could not get transform from base_link to camera_rgb_optical_frame (stamp=1521072121.798015) after 0.100000 seconds ("wait_for_transform_duration"=0.100000)! Error="canTransform: target_frame base_link does not exist.. canTransform returned after 0.100796 timeout was 0.1."
Topic /odom
shows nothing.
Could anyone please give me a hint how to start solving it?
I use Ubuntu 16.04 and ROS Kinetic.
Thank you in advance.
Are you sure that
base_link
exists? Can you post yourtf
tree?Thank you for answering! @matlabbe suggestion worked for me.