Hello,
I am trying to use the rgbd_odometry to publish Odom information to the Gmapping package. I have an aero board and use the R200 camera, so I can just rely on visual odometry to run the Gmapping. Also I am using the depthimage_to_laserscan package.
For some reason the rgbd_odometry gets lost very fast, even if I move slow and away from the first scan. If I move away from the first scan it says
No transform from Transform [sender=unknown_publisher]
For frame [/camera_depth_frame]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation into the future. Requested time 1518552116.724870413 but the latest data is at time 1518552116.058380480, when looking up transform from frame [camera_depth_frame]
In the rgbd_odometry tab:
[ WARN] (2018-02-13 15:50:17.789) OdometryF2M.cpp:372::computeTransform() Registration failed: "Not enough 3D features in images (old=2000, new=10, min=20)"
[ INFO] [1518547817.791709400]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.090951s
Below is my launch file:
↧