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octomap_server error: "Could not generate key for origin"

asked 2019-01-18 22:00:41 -0500

Raisintoe gravatar image

updated 2019-01-18 22:08:21 -0500

I have successfully run octomap_server to create a 3D grid, and visualize it in rviz. I have only been able to do this with octomap's frame_id corresponding to a static tf frame.

When I tried including my custom tf broadcaster, (which generates a transform between the robot and the world from INS position and orientation data), octomap_server continually generates the error: "Could not generate key for origin". I believe this is due to a mismatch in camera depth data, and tf frame time stamps, but I have not been able to find any documentation on this error.

Has anyone else dealt with this error? Or can you see a potential problem in my tf broadcaster code?

#include <ros/ros.h>
#include <tf/transform_broadcaster.h>
#include <nav_msgs/Odometry.h>
#include <iostream>

tf::Quaternion ins_quat(0, 0, 0, 1);    //Initial values for INS transform frame from world
tf::Vector3 ins_vect(0, 0, 0);

void insCallback(const nav_msgs::Odometry::ConstPtr& msg)
{
    static tf::TransformBroadcaster broadcaster;
    std::cout << "instide insCallback\n";
    ins_quat = tf::Quaternion(  //Collect the position data
        msg->pose.pose.orientation.x,
        msg->pose.pose.orientation.y,
        msg->pose.pose.orientation.z,
        msg->pose.pose.orientation.w
    );
    ins_vect = tf::Vector3(
        msg->pose.pose.position.x,
        msg->pose.pose.position.y,
        msg->pose.pose.position.z
    );

    broadcaster.sendTransform(
      tf::StampedTransform(
        tf::Transform(
          ins_quat, ins_vect
        ),
        ros::Time::now(),
        "world", "ins_link"
      )
    );

    broadcaster.sendTransform(  //TODO Should make this a static tf in the future
      tf::StampedTransform(
        tf::Transform(
          tf::Quaternion(0, 0, -0.707, 0.707), tf::Vector3(0.165, 0.05, 0.345) //static orientation
        ),
        ros::Time::now(),
        "ins_link", "camera_link"
      )
    );
}
int main(int argc, char** argv){
  ros::init(argc, argv, "tf_broadcaster");
  ros::NodeHandle n;

  ros::Subscriber ins_sub = n.subscribe("ins", 1, insCallback);
  ros::spin();
}
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answered 2019-01-19 00:15:43 -0500

Raisintoe gravatar image

OK, I found the problem. Since I was publishing tf frames directly from INS position data. The position of my robot was out of bounds.

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Asked: 2019-01-18 22:00:41 -0500

Seen: 40 times

Last updated: Jan 19