Move It Octomap not working

asked 2023-03-23 08:01:49 -0500

moga gravatar image

ROS Distro: Noetic OS Version: Ubuntu 20.04 Camera: Realsense Depth Camera D435i

First of all i cant upload screenshots here, so is my problem as a github issue, where you can also see screenshots for a better understanding:

Im trying to integrate an octomap into my moveit/rviz setup. For this im following this tutorial:

Now the Problem is: If i start the demo from the tutorial with the pregiven rosbag that contains the octomap data: Everything works fine.

Now when i do rostopic echo /camera/depth_registered/points", i get the normal output of a pointcloud which seems to be correct and already worked with other methods like open3d.

But when i open it up with move it and rviz, even thouth i can choose the correct topics no pointcloud shows up. i get the error:

Transform [sender=unknown_publisher] For frame [camera_depth_optical_frame]: No transform to fixed frame [base_link]. TF error: [Could not find a connection between 'base_link' and 'camera_depth_optical_frame' because they are not part of the same tree.Tf has two or more unconnected trees.]

Does anyone know why there is no octomap showing? Am i missing something in rviz?

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