Using my own bag data

[wangjinhoon]

Hello, i want to run my D435i rosbag file with the following command:

roslaunch rtabmap_ros rtabmap.launch \ rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" \ depth_topic:=/camera/aligned_depth_to_color/image_raw \ rgb_topic:=/camera/color/image_raw \ camera_info_topic:=/camera/color/camera_info \ approx_sync:=false

so i run below command:

roslaunch realsense2_camera rs_camera.launch align_depth:=true\ unite_imu_method:="linear_interpolation" enable_gyro:=true \ enable_accel:=true

and

rosbag record -o my_rosbag.bag /camera/aligned_depth_to_color/image_raw /camera/color/image_raw /camera/color/camera_info

finally i run below command: roslaunch rtabmap_launch rtabmap.launch rtabmap_args:="--delete_db_on_start --Optimizer/GravitySigma 0.3" \ depth_topic:=/camera/aligned_depth_to_color/image_raw \ rgb_topic:=/camera/color/image_raw \ camera_info_topic:=/camera/color/camera_info approx_sync:=false \ wait_imu_to_init:=false

and

rosbag play my_rosbag_2023-09-22-13-38-59.bag

and, i show below error: [ WARN] [1695357639.145484881]: Could not get transform from camera_link to camera_color_optical_frame after 0.200000 seconds (for stamp=1695357558.041034)! Error="canTransform: target_frame camera_link does not exist. canTransform: source_frame camera_color_optical_frame does not exist.. canTransform returned after 0.20112 timeout was 0.2.".

[ WARN] [1695357638.927236462]: /rtabmap/rgbd_odometry: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. Parameter "approx_sync" is false, which means that input topics should have all the exact timestamp for the callback to be called. /rtabmap/rgbd_odometry subscribed to (exact sync): /camera/color/image_raw \ /camera/aligned_depth_to_color/image_raw \ /camera/color/camera_info

how can i do?? Is there a guideline I can follow if I've made a mistake? please help

[wangjinhoon]

Recording /tf_static along with it works well. Thank you.

[matlabbe]

You may always record /tf and /tf_static by default when recording a bag.