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gisbi-kim / SC-A-LOAM

Robust LiDAR SLAM with a versatile plug-and-play loop closing and pose-graph optimization.
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Transform error in pgoOdom #16

Open mar-watt opened 2 years ago

mar-watt commented 2 years ago

Hi,

After running sc-a-loam for a few minutes, all of a sudden I get the following error (keeps repeating until process is closed): Saving the posegraph ... running isam2 optimization ... Saving the posegraph ... running isam2 optimization ... Saving the posegraph ... [ERROR] [1658300918.247001921]: Error transforming odometry 'pgoOdom' from frame '/camera_init' to frame 'camera_init' [ERROR] [1658300918.342610283]: Error transforming odometry 'pgoOdom' from frame '/camera_init' to frame 'camera_init' [ERROR] [1658300918.437678957]: Error transforming odometry 'pgoOdom' from frame '/camera_init' to frame 'camera_init' [ERROR] [1658300918.534470309]: Error transforming odometry 'pgoOdom' from frame '/camera_init' to frame 'camera_init' I've tried renaming the the camera_init topic in laserPosegraphOptimization.cpp without the leading '/', to no avail. Any ideas on what the issue might be?