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rayvburn / ORB-SLAM2_ROS

A ROS wrapper for ORB-SLAM2
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"camera_optical" passed to lookupTransform argument target_frame does not exist. #11

Open IntoSan opened 3 years ago

IntoSan commented 3 years ago

Hello,

Installation was success but when I launch example: "roslaunch orb_slam2_ros raspicam_mono_wide.launch" I get this error and data is not delivered from .bag file. Error

Can you tell me, how I can fix it?

rayvburn commented 3 years ago

@IntoSan, you simply have to define a camera_optical frame so tf can find such a frame in a transform tree.

You can find an example in a related package: diff_drive_mapping_robot. The referenced tf was created specifically to a custom mobile base with a camera mounted on top.

You've said that you use a provided bag. Do you find a base_camera frame with rosrun rqt_tf_tree rqt_tf_tree? If yes, the simplest fix is to create a static transform, like:

rosrun tf static_transform_publisher 0 0 0 -1.57 0 -1.57 base_camera camera_optical 100

and possibly adjust rotation, if needed. You should follow REP 103 in your application.

Please let me know if this helped.

IntoSan commented 3 years ago

@rayvburn Sorry, I did not find base_camera frame. There is no any tf data.