rtabmap not subscribe to odom

[Bouchrikator]

so i used the same code a kinect here http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot Kinect + Odometry i tried also Kinect + Odometry + Fake 2D laser from Kinect but it didint work too here is my launch file : `

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here is also the rqt_graph

i'm using also rosrun tf static_transform_publisher 0.2 0 0.1 0 0 0 base_link camera_link 100 to add the kinect into the base link and it can make issues isn't ?

i'm suck i have a deadline

[Bouchrikator]

UPDATE: i tried this when and used that launch file i linked the camera_link with the base_link and here what happend when i start rtabmap it looks like camera link wants to go to the map link where it start:

i used this launch file:

`

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[matlabbe]

You may have two odometry nodes (rgbd_odometry and your wheel odometry) publishing on same TF. Add this to rgbd_odometry node (assuming your wheel odometry is publishing TF odom->base_link) to avoid TF issues:

<param name="odom_frame_id"       type="string" value="vo"/>
<param name="guess_frame_id"       type="string" value="odom"/>

You may also try without rgbd_odometry too, and just remap your /odom topic in rtabmap node.