Hi,i'm new to ros ,i try to run rgbdslam offline from a bag,every thing seem to work fine,but the status bar show that the inliers always be 0.And the feature flow image seem to do nothing.The node and edge could increase slowly.From the terminal,i saw some output warning and repeat. Could anyone help me out?

WARNING: Error: could not open transform file t_1.tfm for writing.

WARNING: Error: could not open transform file t_2.tfm for writing.

WARNING: Error: could not open transform file t_3.tfm for writing.

WARNING: Error: could not open transform file t_base.tfm for writing.

WARNING: Error: could not open transform file t_0.tfm for writing.

WARNING: Error: could not open transform file t_1.tfm for writing.

WARNING: Error: could not open transform file t_2.tfm for writing.

WARNING: Error: could not open transform file t_3.tfm for writing.

WARNING: Error: could not open transform file t_4.tfm for writing.

WARNING: Error: could not open transform file t_5.tfm for writing.

Inaddtionally,i can find some warn info in the log file: such as [WARN] You requested a transform that is 30593613421.786 miliseconds in the past, but the most recent transform in the tf buffer is 30593613434.222 miliseconds old. When trying to transform between /openni_rgb_optical_frame and /openni_camera.

[WARN] Using Standard kinect /openni_camera -> /openni_rgb_optical_frame as transformation

[WARN] Frame id /ground_truth_map does not exist! When trying to transform between /openni_camera and /ground_truth_map. - Using Identity for Ground Truth

[WARN] RANSAC found no valid trafo, but had initially 460 feature matches with average ratio 0.160627

hi,I am a newbie.I have used kinect to combine pointcloud_to_laserscan and laser_scan_matcher and gmapping package,aimed to build a map. I didn't provide any wheel odometry.But I found that the generated map is poor.I think this may concern with the parameters both for laser_scan_matcher and gmapping.Because the input scan data is fake and not the real laser scan data.Need I pay any specific attention? Could anyone give me some suggestion and direction to improve the performance? thanks in advance!

here is one of my launch file

<launch>
  <!-- kinect and frame ids -->
  <include file="$(find openni_camera)/launch/openni_node.launch"/>

  <!-- openni_manager -->
  <node pkg="nodelet" type="nodelet" name="openni_manager" output="screen" respawn="true" args="manager"/>

  <!-- throttling -->
  <node pkg="nodelet" type="nodelet" name="pointcloud_throttle" args="load pointcloud_to_laserscan/CloudThrottle openni_manager">
    <param name="max_rate" value="2"/>
    <remap from="cloud_in" to="/camera/depth/points"/>
    <remap from="cloud_out" to="cloud_throttled"/>
  </node>

  <!-- fake laser -->
  <node pkg="nodelet" type="nodelet" name="kinect_laser" args="load pointcloud_to_laserscan/CloudToScan openni_manager">
    <param name="output_frame_id" value="/laser"/>
    <remap from="cloud" to="cloud_throttled"/>
  </node>
</launch>

another launch file:

    <launch>
<node pkg="tf" type="static_transform_publisher" name="base_link_to_laser" 
    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /laser 40" />

  <node pkg="rviz" type="rviz" name="rviz" 
    args="-d $(find laser_scan_matcher)/demo/demo_gmapping.vcg"/>

<node pkg="laser_scan_matcher" type="laser_scan_matcher_node" 
    name="laser_scan_matcher_node" output="screen">

    <param name="fixed_frame" value = "odom"/>
    <param name="use_alpha_beta" value="true"/>
    <param name="max_iterations" value="20"/>

  </node>

<node pkg="gmapping" type="slam_gmapping" name="slam_gmapping" output="screen">
        <!--remap from="scan" to="base_scan"/-->
        <!--param name="odom_frame" value="odom"/-->
        <param name="map_update_interval" value="2.0"/>
        <param name="maxUrange" value="6.0"/>
        <param name="sigma" value="0.05"/>
        <param name="kernelSize" value="1"/>
        <param name="lstep" value="0.05"/>
        <param name="astep" value="0.05"/>
        <param name="iterations" value="5"/>
        <param name="lsigma" value="0.075"/>
        <param name="ogain" value="3.0"/>
        <param name="lskip" value="0"/>
        <param name="srr" value="0.01"/>
        <param name="srt" value="0.02"/>
        <param name="str" value="0.01"/>
        <param name="stt" value="0.02"/>
        <param name="linearUpdate" value="0.25"/>     <!-- param name="linearUpdate" value="0.5"/-->
        <param name="angularUpdate" value="0.262"/>   <!--param name="angularUpdate" value="0.436"/-->
        <param name="temporalUpdate" value="-1.0"/>
        <param name="resampleThreshold" value="0.5"/>
        <param name="particles" value="300"/>
        <param name="xmin" value="-50.0"/>
        <param name="ymin" value="-50.0"/>
        <param name="xmax" value="50.0"/>
        <param name="ymax" value="50.0"/>
        <param name="delta" value="0.05"/>
        <param name="llsamplerange" value="0.01"/>
        <param name="llsamplestep" value="0.01"/>
        <param name="lasamplerange" value="0.005"/>
        <param name="lasamplestep" value="0.005"/>
    </node>


</launch>

edit 1

tf tree

/map->/odom->/base_link->/laser. I found that the /odom->/base_link publish rate was 1.953hz

Hi, I want to use the laser_scan_matcher package in scan_tools stack ! But I can't get the source! could anyone give me another link that provide the source! I try this

git clone http://robotics.ccny.cuny.edu/git/ccny-ros-pkg/scan_tools.git

but it show all the time

Cloning into scan_tools...

I also try the apt-get, it show that the package is not compatible with my ros version.

Thanks in advance!

I have tried diamondback it's ok!!

I follow what you said and it work well!Thanks Felix!!

thansk,Felix!I have fixed the problem! Originally, I used the sample.launch,it didn't work! When I used the rgbdslam.launch and modified it to adjust the offline operation.Finally it works well.

hi,i'm new to ros, i was able to run offline RGBD-SLAM package from a bag file,and it work fine,but when i try to send the result point cloud to octomap_server through pressing 'ctrl+M'.The saved bt file is alway be the size of 18k,and only containing one node. Here is the log info I found

[WARN] MessageFilter [target=/map ]: Dropped 100.00% of messages so far. Please turn the [ros.octomap_server.message_notifier] rosconsole logger to DEBUG for more information.

the bag file i record is follow this command:

rosbag record -O filename-prefix /tf /camera/rgb/image_color /camera/rgb/camera_info /camera/depth/image /camera/depth/camera_info

anyway,if i do online rgbdslam, all is ok! could anyone help me out?Any suggestion is appreciate!!