Could not get transform from odom to base_link - rtabmap

asked 2019-12-09 02:05:16 -0500

rostros gravatar image

"Could not get transform from odom to base_link after 0,200000 seconds (for stamp=952,794000)! Error="Could not find a connection between 'odom' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.2 timeout was 0.2."."

my odometry_frame_id = odom.

I want to use the rtabmap package with my own odometry data instead of visual odometry.But I get the above error.

Can you help me?

Thanks in advance.

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Comments

Can you show what is the data you publish in your odometry message and which TF is published?

matlabbe gravatar image matlabbe  ( 2019-12-12 10:38:41 -0500 )edit

link text

I don't use any TF. Because, I follow here ; http://wiki.ros.org/rtabmap_ros/Tutor...

It says here ;

"If you want to use external odometry (e.g., you want to use odometry from your robot or another stereo odometry approaches like viso2_ros or fovis_ros), you can set these arguments: "visual_odometry:=false odom_topic:=/my_odometry". "

rostros gravatar image rostros  ( 2019-12-12 10:53:32 -0500 )edit

A published TF is still required matching the frames you are using in odometry topic. The odometry topic is used only to get the covariance, but the actual pose is taken from TF to get the exact pose at image/lidar stamps.

matlabbe gravatar image matlabbe  ( 2019-12-12 16:57:04 -0500 )edit