I have built the code successfully, but when i run roslaunch omnimapper omnimapper_jeeves_laser_and_icp.launch i can't change Global Options/Fixed frame to base_link in the rviz window,and it can't receive data of the kinect.
Here is my log:
... logging to /home/buqing2009/.ros/log/4766ed3a-97b6-11e4-b441-303a643c16f8/roslaunch-buqing2009-GE60-2PE-12993.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
core service [/rosout] found
process[camera/camera_nodelet_manager-1]: started with pid [13011]
process[camera/debayer-2]: started with pid [13012]
[ INFO] [1420804182.762039136]: Initializing nodelet with 4 worker threads.
process[camera/rectify_mono-3]: started with pid [13054]
process[camera/rectify_color-4]: started with pid [13083]
process[camera/rectify_ir-5]: started with pid [13104]
process[camera/depth_rectify_depth-6]: started with pid [13125]
process[camera/depth_metric_rect-7]: started with pid [13154]
process[camera/depth_metric-8]: started with pid [13175]
process[camera/depth_points-9]: started with pid [13203]
process[camera/register_depth_rgb-10]: started with pid [13233]
process[camera/points_xyzrgb_sw_registered-11]: started with pid [13258]
process[camera/depth_registered_rectify_depth-12]: started with pid [13290]
process[camera/points_xyzrgb_hw_registered-13]: started with pid [13311]
process[camera/disparity_depth-14]: started with pid [13335]
process[camera/disparity_registered_sw-15]: started with pid [13356]
process[camera/disparity_registered_hw-16]: started with pid [13402]
process[camera_base_link-17]: started with pid [13446]
process[camera_base_link1-18]: started with pid [13476]
process[camera_base_link2-19]: started with pid [13503]
process[camera_base_link3-20]: started with pid [13521]
process[omnimapper_ros_node-21]: started with pid [13554]
process[RVIZ-22]: started with pid [13555]
[ INFO] [1420804183.317302103]: OmniMapperROS: Constructing... Loading ROS Params...
[ INFO] [1420804183.371567871]: Waiting for initial pose from /odom to /base_link
And i delete this part
and run roslaunch openni_launch openni.launch independently,
i can chang the Fixed Frame to base_link and i can see the color image and depth image but i can't any other else in the middle.
and in the terminal has the error code:
Invalid argument "/camera_rgb_optical_frame" passed to lookupTransform argument target_frame in tf2 frame_ids cannot start with a '/' like:
I have built the code successfully, but when i run roslaunch omnimapper omnimapper_jeeves_laser_and_icp.launch i can't change Global Options/Fixed frame to base_link in the rviz window,and it can't receive data of the kinect.
Here is my log: ... logging to /home/buqing2009/.ros/log/4766ed3a-97b6-11e4-b441-303a643c16f8/roslaunch-buqing2009-GE60-2PE-12993.log Checking log directory for disk usage. This may take awhile. Press Ctrl-C to interrupt Done checking log file disk usage. Usage is <1GB.
started roslaunch server http://buqing2009-GE60-2PE:47853/
SUMMARY
PARAMETERS
NODES /camera/ camera_nodelet_manager (nodelet/nodelet) debayer (nodelet/nodelet) depth_metric (nodelet/nodelet) depth_metric_rect (nodelet/nodelet) depth_points (nodelet/nodelet) depth_rectify_depth (nodelet/nodelet) depth_registered_rectify_depth (nodelet/nodelet) disparity_depth (nodelet/nodelet) disparity_registered_hw (nodelet/nodelet) disparity_registered_sw (nodelet/nodelet) points_xyzrgb_hw_registered (nodelet/nodelet) points_xyzrgb_sw_registered (nodelet/nodelet) rectify_color (nodelet/nodelet) rectify_ir (nodelet/nodelet) rectify_mono (nodelet/nodelet) register_depth_rgb (nodelet/nodelet) / RVIZ (rviz/rviz) camera_base_link (tf/static_transform_publisher) camera_base_link1 (tf/static_transform_publisher) camera_base_link2 (tf/static_transform_publisher) camera_base_link3 (tf/static_transform_publisher) omnimapper_ros_node (omnimapper_ros/omnimapper_ros_node)
ROS_MASTER_URI=http://localhost:11311
core service [/rosout] found process[camera/camera_nodelet_manager-1]: started with pid [13011] process[camera/debayer-2]: started with pid [13012] [ INFO] [1420804182.762039136]: Initializing nodelet with 4 worker threads. process[camera/rectify_mono-3]: started with pid [13054] process[camera/rectify_color-4]: started with pid [13083] process[camera/rectify_ir-5]: started with pid [13104] process[camera/depth_rectify_depth-6]: started with pid [13125] process[camera/depth_metric_rect-7]: started with pid [13154] process[camera/depth_metric-8]: started with pid [13175] process[camera/depth_points-9]: started with pid [13203] process[camera/register_depth_rgb-10]: started with pid [13233] process[camera/points_xyzrgb_sw_registered-11]: started with pid [13258] process[camera/depth_registered_rectify_depth-12]: started with pid [13290] process[camera/points_xyzrgb_hw_registered-13]: started with pid [13311] process[camera/disparity_depth-14]: started with pid [13335] process[camera/disparity_registered_sw-15]: started with pid [13356] process[camera/disparity_registered_hw-16]: started with pid [13402] process[camera_base_link-17]: started with pid [13446] process[camera_base_link1-18]: started with pid [13476] process[camera_base_link2-19]: started with pid [13503] process[camera_base_link3-20]: started with pid [13521] process[omnimapper_ros_node-21]: started with pid [13554] process[RVIZ-22]: started with pid [13555] [ INFO] [1420804183.317302103]: OmniMapperROS: Constructing... Loading ROS Params... [ INFO] [1420804183.371567871]: Waiting for initial pose from /odom to /base_link
And i delete this part
and run roslaunch openni_launch openni.launch independently, i can chang the Fixed Frame to base_link and i can see the color image and depth image but i can't any other else in the middle. and in the terminal has the error code: Invalid argument "/camera_rgb_optical_frame" passed to lookupTransform argument target_frame in tf2 frame_ids cannot start with a '/' like: