Rtabmap cannot generate transform map->odom while fusing odometry topic from robot_localization or wheel encoder

asked 2018-06-02 13:55:03 -0500

raewu gravatar image

Hi there,

I was working on a project using CLEARPATH Jackal as the platform. Using kinectv2 and Rtabmap to generate an indoor map. I want to fuse /odometry/filtered topic from robot_localization package into Rtabmap. I have changed the fame_id in rgbd_mapping_kinect2.launch to base_link and disabled the transform from visual_odometry. But it still crashed, showing no image in Rviz. Any thoughts? Thank you!

And the output of launch file saying did not receive data since 5 seconds, but all the topics are published.

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Which node is crashing? Is there an error message? can you copy/paste the log of the terminal?

matlabbe gravatar image matlabbe  ( 2018-06-07 16:32:05 -0500 )edit

Hi Mathieu, Sorry for the late reply. I fixed it by increasing the queue_size.

raewu gravatar image raewu  ( 2018-06-12 13:15:04 -0500 )edit