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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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Mapping and Navigation with turtlebot issue #45

Open kaygudo opened 8 years ago

kaygudo commented 8 years ago

Hello, I wish to do RGBD slam navigation using turtle bot as explained in Here. How ever when i try to execute command "roslaunch rtabmap_ros demo_turtlebot_mapping.launch"

I get following message:

[ INFO] [1454008734.671710371]: No matching device found.... waiting for devices. Reason: std::string openni2_wrapper::OpenNI2Driver::resolveDeviceURI(const string&) @ /tmp/buildd/ros-indigo-openni2-camera-0.2.5-0trusty-20151130-2131/src/openni2_driver.cpp @ 631 : Invalid device number 1, there are 0 devices connected. [ WARN] [1454008735.034947191]: Timed out waiting for transform from base_footprint to map to become available before running costmap, tf error: Could not find a connection between 'map' and 'base_footprint' because they are not part of the same tree.Tf has two or more unconnected trees.. canTransform returned after 0.100916 timeout was 0.1.

and after this when i try to execute " roslaunch rtabmap_ros demo_turtlebot_rviz.launch" i get following results: rivz can you plz help i am new to ROS.

matlabbe commented 8 years ago

Hi,

Your main problem is that OpenNI2 cannot detect your camera:

there are 0 devices connected.

What kind of camera are you using? If you have a Kinect, see section 5 of the tutorial.

cheers

kaygudo commented 8 years ago

Hey, Thanks a lot that worked for me for mapping on rivz. But, after mapping when i close rivz and try to execute "$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch localization:=true" for localization i get following error:

[ WARN] [1454091492.277720619]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!

[ INFO] [1454091492.290996770]: Stopping device RGB and Depth stream flush.

[ WARN] [1454091492.387544016]: rtabmap: Could not get transform from odom to base_footprint after 0.100000 second!

and this keeps on repeating...

Can you please help? With regards.