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RTABMAP-ROS "NO TF DATA RECEIVED"

asked 2022-03-27 01:00:42 -0600

distro
167 ●45 ●78 ●99

I have been trying to follow the tutorial for rtabmap-ros for my turtlebot2, Upon trying roslaunch rtabmap_ros demo_turtlebot_mapping.launch. I get these errors:

[ WARN] [1648357457.044432946]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: canTransform: target_frame map does not exist. canTransform: source_frame base_footprint does not exist.. canTransform returned after 0.10011 timeout was 0.1.
[ WARN] [1648357458.230320502]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
   /camera/rgb/image_rect_color \
   /camera/depth_registered/image_raw \
   /camera/rgb/camera_info \
   /scan

I look into my TF tree to see that no tf data is being received AT ALL. I don't know whats happening or how to fix it

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answered 2022-04-10 21:42:48 -0600

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Show frame rate of the topics shown in the warning:

rostopic hz /camera/rgb/image_rect_color \
   /camera/depth_registered/image_raw \
   /camera/rgb/camera_info \
   /scan

If some topics are missing, try debugging which nodes are supposed to publish them, or check if the actual topics you have on your robot are the same. You can remap them if so.

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@matlabbe how do I show frame rates? Will the frame rates help me know which topics are missing?

distro ( 2022-04-11 12:31:11 -0600 )edit

rostopic hz command shows the current rate of the topics. If no rate is shown for a topic, it means the topic is not published.

matlabbe ( 2022-04-11 15:41:25 -0600 )edit

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Asked: 2022-03-27 01:00:42 -0600

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Last updated: Apr 10 '22

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