search

izhengfan / se2lam

(ICRA 2019) Visual-Odometric On-SE(2) Localization and Mapping
https://github.com/izhengfan/se2lam
MIT License
404 stars 108 forks source link

RViz Marker Error: For frame [/se2lam/World]: Frame [/se2lam/World] does not exist #44

Closed martinakos closed 9 months ago

martinakos commented 9 months ago

I can run the test_vn node with the provided DatasetRoom data and config files. In rviz I can see the visual features being extracted and matched along the sequence. However, I can't see the trajectory or 3D points in the main viewer. When I visualise the Marker topic /se2lam/Map I see this error in the submarkers: RViz Marker Error: For frame [/se2lam/World]: Frame [/se2lam/World] does not exist

see image image

also this is the tfview: image

Any idea how can I see the Marker like it's shown in the demo video?

martinakos commented 9 months ago

I've realised of this other error in rviz: [ WARN] [1705927589.630355160]: Invalid argument "/se2lam/World" passed to canTransform argument source_frame in tf2 frame_ids cannot start with a '/' like:

The solution is to remove a / in line 28 MapPublish.cpp const char* MAP_FRAME_ID = "se2lam/World"; Maybe it's a Noetic specific thing.