Ask Your Question
1

ethzasl_icp_mapping error

asked 2013-05-16 23:43:12 -0500

INSA gravatar image

updated 2013-05-20 06:28:58 -0500

Hi,

I am using the package "ethzasl_icp_mapping" to build a 3D map using a stereo camera. When i feed the mapper node with a pointcloud, i have the following error :

ERROR Cannot lookup TOdomToScanner(odom to /stereo_camera)

How can i resolve this ?

With : rosrun tf tf_monitor, i have :

RESULTS: for all Frames

Frames: Frame: /odom published by /mapper Average Delay: 0.00053216 Max Delay: 0.0137875

All Broadcasters: Node: /mapper 878.531 Hz, Average Delay: 0.00053216 Max Delay: 0.0137875

RESULTS: for all Frames

Frames: Frame: /odom published by /mapper Average Delay: 0.000526054 Max Delay: 0.0137875

All Broadcasters: Node: /mapper 873.915 Hz, Average Delay: 0.000526054 Max Delay: 0.0137875

..........

It appears that i have no /stereo_camera frame that is being published. How can i create it ?

Thank you

edit retag flag offensive close merge delete

Comments

Hi i cant see the error message

Sentinal_Bias gravatar imageSentinal_Bias ( 2013-05-18 14:45:51 -0500 )edit

Hi Sentinal_Bias, the error that i am getting is now in the post, can you help me with it please ?

INSA gravatar imageINSA ( 2013-05-20 04:30:28 -0500 )edit

1 Answer

Sort by ยป oldest newest most voted
0

answered 2013-05-21 04:56:23 -0500

Sentinal_Bias gravatar image

Hi

Run tf view_frames

it should show you a graph of all the frames if something is not connected it means a tf transform is missing. When i was using that package i was using a kinect so i just used the launch file, but if you are using a stereo camera i think you need to define a tf transform that gets you from your sensor to the body...

edit flag offensive delete link more

Comments

Hi, thank you Sentinal_Bias for responding, I have a Kinect too and i tryed to use the package by running the launch files. In launch/openni, i launched : "sensor.launch", "tracker.launch" and "tracker_viewer-groovy.launch". The topic "/point_map" is not being published.

INSA gravatar imageINSA ( 2013-05-21 06:19:51 -0500 )edit

you should only have to luanch tracker_viewer-groovy.launch and it will Launch the other launch files. Also i presume your ROS distribution is groovy. I use Fuerte btw

Sentinal_Bias gravatar imageSentinal_Bias ( 2013-05-25 00:55:45 -0500 )edit

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

Stats

Asked: 2013-05-16 23:43:12 -0500

Seen: 191 times

Last updated: May 21 '13