problems with using RealSense D435i

[mark9714]

I got a rosbag recorded from RealSense D435i and slamware radar, "rostopic list" like this.

And this is the launch file modified by me.

I use the odom_to_pose.py to change the Odometry to PoseWithCovarianceStamped.

And here is my configure file "my.yaml".

However when I use "roslaunch elevation_mapping_demos simple_demo.launch" to start the launch file,I got some information like this.

And then it turns out to like this.

And I got nothing in Rviz.

Does anyone have any idea about it?

[maximilianwulf]

Hey, your tf data does not seem to be correct. How are you providing the tf information of the robot body? The provided pose seems to be fine.

[naoya-kumagai]

@mark9714 Did you figure this out? I'm trying to do something similar, and I'm interested.

[mark9714]

yes，but I'm Chinese.My English isn't very well,I don't know how to express it.

------------------ 原始邮件 ------------------ 发件人: "ANYbotics/elevation_mapping" @.>; 发送时间: 2021年9月12日(星期天) 凌晨0:04 @.>; @.**@.>; 主题: Re: [ANYbotics/elevation_mapping] problems with using RealSense D435i (#158)

@mark9714 Did you figure this out? I'm trying to do something similar, and I'm interested.

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[naoya-kumagai]

@mark9714 If you can post your working code that would be great!

[maximilianwulf]

Hey @naoya-kumagai, I am pretty sure that the issue is related to the simulated/replayed clock.

Check out this answer, I guess it will solve your issue: https://answers.ros.org/question/201948/tf_old_data-ignoring-data-from-the-past-for-frame-odom/?answer=201973#post-id-201973