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appliedAI-Initiative / orb_slam_2_ros

A ROS implementation of ORB_SLAM2
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Tf has two or more unconnected trees #134

Open Garrison-ctrl opened 2 years ago

Garrison-ctrl commented 2 years ago

[ WARN] [1651662336.443545691]: Could not find a connection between 'camera_link' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. so that the pointcloud has no result

Casey-J-Wolcott commented 2 years ago

I'm having the same problem, I'm trying to add /map_points to rviz to get a visual map, but between world_emu and map, tried running in a clean rviz and the pointcloud is empty

The terminal itself it filled with warnings for camera_link being passed to an argument that doesn't exist.

Garrison-ctrl commented 2 years ago

I have solved this problem,but the way is a little strange,I use the roslaunch realsense2_camera rs_rgbd.launch to start up the d435i,and use the roslaunch orb_slam2_ros orb_slam2_d435_mono.launch,at first the terminal will show the map is empty,after a few seconds,you can open rviz and add the pointcloud and camera,you will find pointcloud.

rzhao1024 commented 1 year ago

Hi! I encountered the same problem. When I start up the d435i using roslaunch orb_slam2_ros orb_slam2_d435_rgbd.launch, the terminal also shows [ WARN] [1651662336.443545691]: Could not find a connection between 'camera_link' and 'base_link' because they are not part of the same tree.Tf has two or more unconnected trees. How to solve this problem?