rtabmap no map received (TF link base problem)

asked 2019-09-11 14:49:14 -0500

Diogo42 gravatar image

Hello people i need Help for run rtabmap in my simulation.

Maybe a need change the name link

m600/stereo/camera_left_link

for:

m600/camera_left_link

I Don't have idea how to do

My base_frame:

  • m600/base_link
    • m600/camera_left_link
    • m600/camera_left_optical_link

My original topic:

  • /m600/stereo/left/image_raw/compressed
  • /m600/stereo/right/image_raw/compressed
  • /m600/stereo/left/camera_info
  • /m600/stereo/right/camera_info -/tf

I run the bag:

rosbag play --clock teste_stereo_2019-09-11-12-55-45.bag -l /m600/stereo/left/image_raw/compressed:=/stereo_camera/left/image_raw_throttle/compressed /m600/stereo/right/image_raw/compressed:=/stereo_camera/right/image_raw_throttle/compressed /m600/stereo/left/camera_info:=/stereo_camera/left/camera_info_throttle /m600/stereo/right/camera_info:=/stereo_camera/right/camera_info_throttle frame_id:=m600/base_link

After run bag i'm use the launch

roslaunch vant3d_gazebo stereo_vant3d.launch -v

I Have this output erro:

[ WARN] [1568227586.737636380, 902.368800000]: odometry: Could not get transform from base_footprint to m600/stereo/camera_left_link (stamp=902.142900) after 0.200000 seconds ("wait_for_transform_duration"=0.200000)! Error="canTransform: target_frame base_footprint does not exist. canTransform: source_frame m600/stereo/camera_left_link does not exist.. canTransform returned after 0.2007 timeout was 0.2."

My launch file

<launch>

<!--
   Demo of outdoor stereo mapping.
   From bag:
   $ rosbag record
         /stereo_camera/left/image_raw_throttle/compressed
         /stereo_camera/right/image_raw_throttle/compressed
         /stereo_camera/left/camera_info_throttle
         /stereo_camera/right/camera_info_throttle
         /tf

   $ roslaunch rtabmap demo_stereo_outdoor.launch
   $ rosbag play -.-clock stereo_oudoorA.bag
-->

<!-- Choose visualization -->
<arg name="rviz" default="true" />
<arg name="rtabmapviz" default="false" />
<arg name="local_bundle" default="true" />
<arg name="stereo_sync" default="false" />

<param name="use_sim_time" type="bool" value="True"/>

<!-- Just to uncompress images for stereo_image_rect -->
<node name="republish_left"  type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/left/image_raw_throttle raw out:=/stereo_camera/left/image_raw_throttle_relay" />
<node name="republish_right" type="republish" pkg="image_transport" args="compressed in:=/stereo_camera/right/image_raw_throttle raw out:=/stereo_camera/right/image_raw_throttle_relay" />

<!-- Run the ROS package stereo_image_proc for image rectification -->
<group ns="/stereo_camera" >
    <node pkg="stereo_image_proc" type="stereo_image_proc" name="stereo_image_proc">
        <remap from="left/image_raw"    to="left/image_raw_throttle_relay"/>
        <remap from="left/camera_info"  to="left/camera_info_throttle"/>
        <remap from="right/image_raw"   to="right/image_raw_throttle_relay"/>
        <remap from="right/camera_info" to="right/camera_info_throttle"/>
        <param name="disparity_range" value="128"/>
    </node>

    <node if="$(arg stereo_sync)" pkg="nodelet" type="nodelet" name="stereo_sync" args="standalone rtabmap_ros/stereo_sync">
        <remap from="left/image_rect"   to="left/image_rect_color"/>
        <remap from="right/image_rect"   to="right/image_rect"/>
        <remap from="left/camera_info"   to="left/camera_info_throttle"/>
        <remap from="right/camera_info"   to="right/camera_info_throttle"/>
    </node>
</group>

<group ns="rtabmap">

    <!-- Stereo Odometry -->
    <node pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" output="screen">
        <remap from="left/image_rect"       to="/stereo_camera/left/image_rect"/>
        <remap from="right/image_rect"      to="/stereo_camera/right/image_rect"/>
        <remap from="left/camera_info"      to="/stereo_camera/left/camera_info_throttle"/>
        <remap from="right/camera_info"     to="/stereo_camera/right/camera_info_throttle"/>
        <remap from="rgbd_image"            to="/stereo_camera/rgbd_image"/>
        <remap from="odom"                  to="/stereo_odometry"/>

        <param name="subscribe_rgbd"  type="bool" value="$(arg stereo_sync)"/>
        <param name="frame_id"        type="string" value="base_footprint"/>
        <param name="odom_frame_id"   type="string" value="odom ...
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Comments

This question is a little hard to understand. Can you try to reduce the scope of what you're posting and try to be a little bit more clear about what you want and what's happening and the difference between them? The best questions are simple self contrained examples that we can reproduce: http://sscce.org/

tfoote gravatar imagetfoote ( 2019-09-12 13:28:41 -0500 )edit