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appliedAI-Initiative / orb_slam_2_ros

A ROS implementation of ORB_SLAM2
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Can't get the tf date. #105

Closed zhuangxiaopi closed 3 years ago

zhuangxiaopi commented 3 years ago

The terminal shows : [ WARN] [1615737098.457917451]: "kinect2_rgb_optical_frame" passed to lookupTransform argument target_frame does not exist.

I use kinectv2 , The following is my modification in the launch file ` 

   <param name="camera_frame_id" type="string" value="kinect2_rgb_optical_frame" />`

Thx.

lennarthaller commented 3 years ago

Please verify that your TF tree is set up correctly.

zhuangxiaopi commented 3 years ago

USE KinectV2 can use below command 1.Pulish kinect tf roslaunch kinect2_bridge kinect2_bridge.launch publish_tf:=true 2.create relation with rosrun tf static_transform_publisher 0 0 0 0 0 0 base_link kinect2_link 100 3.Modify file orb_slam2_r200_rgbd.launch 4. roslaunch orb_slam2_ros orb_slam2_r200_rgbd.launch