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Google Cartographer - Setup Issues

Hi All,

I'm trying to get google's cartographer up and running on my turtle-like robot. Using https://google-cartographer-ros-for-turtlebots.readthedocs.io/en/latest/ as a starting point.

I've updated demo_depth_camera_2d.launch & turtle_depth_camera_2d.lua

I have a problem with the tracking_frame parameter - it was set to gyro_link (which I don't have) so I tried setting it to imu_msg and base_link. Both with out success. I keep getting an error message:

 W1105 11:30:18.000000 16684 tf_bridge.cc:51] "imu_msg" passed to lookupTransform argument source_frame does not exist

regardless if:

 tracking_frame = "base_link"

or

tracking_frame = "imu_msg"

Does anyone have any thoughts? My graph is currently looking like:

image description

Thanks

Mark