How to launch cartographer on my own .bag - RVIZ with missing tf

asked 2019-02-20 09:06:03 -0500

goeldisandro gravatar image

I m relatively new to ROS and thank you in advance for your help

just as a reference; as soon as cartographer is working with the point cloud data i d like also to include the odom data an do a few studies about the quality of the generated Maps.

I went through the tutorials from Google Cartographer ( https://google-cartographer-ros.readt... ). As long as i tried it with the given .bag files everything went well.

Now i am trying to launch it with my own .bag file, which is just a short example and only recorded with a velodyne VLP 16. The important files are located in;

The validation of the .bag did not showed some concerns as far as i see.

When i now try to launch it with the command; roslaunch cartographer_ros offline_my_robot.launch bag_filenames:=${HOME}/bagfiles/2019-01-10-14-37-16.bag rviz shows up but with the Global Status: Warn No tf data. Actual error: Fixed Frame [map] does not exist

I think that the problem might occur, because i do not have a tf transformation. I already made the tf tutorials from ROS, but i do not know how to adapt it on my Situation. Is there a place, where i find some similar projects? Or do i just have to make a change in RViz?

everything is launched on a linux laptop with ros kinetic

Thanks for your help and greetings from Switzerland


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Hi @goeldisandro, Did you solve the problem please ? I'm having exactly the same problem as the one you described here.. please feel free to hit me up

hachbani gravatar imagehachbani ( 2019-06-10 15:57:46 -0500 )edit

Hi there The problem was with the urdf File. When there is no correct tree, the cartographer node won`t run. This results in no published frame map. You could have a look at my actual Git: The cartographer parts should work just fine.

Greetings from Switzerland

goeldisandro gravatar imagegoeldisandro ( 2019-07-10 03:48:22 -0500 )edit