[CARTOGRAPHER] "Submaps: For frame [map]: Frame [map] does not exist"
Hi, I've been trying to set up Cartographer on ROS. I'm going to give as much details as I can. I want to run cartographer on my own bag.
The issue: When I launch cartographer, I get nothing on the Rviz display, it gives me a error (screenshot: https://imgur.com/a/tq3G3jR)
When I run rqt_graph : https://imgur.com/a/ShktkBL
Here's my rqt_tf_tree: https://imgur.com/a/ReV7MYc
I launch cartographer using this command:
roslaunch cartographer_ros demo_my_robot.launch bag_filename:=/home/hamza/Documents/bags_ouster/2019-05-10-11-00-03.bag
Here's my .launch file :
<launch>
<param name="/use_sim_time" value="true" />
<include file="$(find cartographer_ros)/launch/backpack_3d.launch" />
<remap from="/os1_cloud_node/points" to="/points2"/>
<node pkg="tf" type="static_transform_publisher" name="tf_pub" args="0 0 0 0 0 0 /base_link /os1_sensor 100"/>
<node name="rviz" pkg="rviz" type="rviz" required="true"
args="-d $(find cartographer_ros)/configuration_files/demo_3d.rviz" />
<node name="playbag" pkg="rosbag" type="play"
args="--clock $(arg bag_filename)" />
</launch>
A pice of my robot.lua script:
map_frame = "map",
tracking_frame = "base_link",
published_frame = "base_link",
odom_frame = "odom",
provide_odom_frame = true,
use_odometry = false,
I've been trying to figure out the problem for so long, but with no clue of its source, it's tough. Anyone can help please ?
If you need any additionnal infos, feel free to ask, Im active all the time.