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spencer-project / spencer_people_tracking

Multi-modal ROS-based people detection and tracking framework for mobile robots developed within the context of the EU FP7 project SPENCER.
http://www.spencer.eu/
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Tutorial single_rgbd_sensor has "invalid argument source_frame in tf2 frame_ids cannot be empty" #15

Closed verdimrc closed 7 years ago

verdimrc commented 8 years ago

I follow tutorial 1 (tracking_single_rgbd_sensor.launch) to run with an RGB-D camera. I made just one change to the tutorial: to replace ground_plane_tf_based_fixed with ground_plane_really_fixed.

When I run the tutorial, the people detector node (freiburg_people_tracking.launch) threw these messages:

Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
         at line 122 in /tmp/binarydeb/ros-indigo-tf2-0.5.13/src/buffer_core.cpp
[ WARN] [1470824086.900082101]: Failed to lookup transform from frame  into target frame base_footprint! Dropping input DetectedPersons message on topic /spencer/perception_internal/detected_persons/rgbd_front_top/upper_body. Reason: Invalid argument passed to lookupTransform argument source_frame in tf2 frame_ids cannot be empty
Warning: Invalid argument passed to canTransform argument source_frame in tf2 frame_ids cannot be empty
         at line 122 in /tmp/binarydeb/ros-indigo-tf2-0.5.13/src/buffer_core.cpp

Any idea what could be possibly wrong? I went through freiburg_people_tracking.launch and noticed some references to high precision lasers; could this device be mandatory for tutorial 1?

tlind commented 7 years ago

I think this issue was caused by your use of ground_plane_really_fixed. There might be some ROS message header frame_id not being set correctly in that node, as we did not use it in our experiments.