Troubles get it running
kersm opened this issue · comments
Hi,
I'm trying to get this running.
At first i had some troubles on compiling because my system missed the libconfig++ library, would be nice to create a note in the Readme file.
But now my problem: I'm running the node as stated in the readme file:
rosrun mono-slam mono-slam conf/conf_kinect.cfg /camera/image_raw:=/camera/rgb/image_raw
Where the kinect is started with the openni.launch file...
But if i want to subscribe to the various topics with rviz i get messages of the kind:
"camera_marker/0
For frame [/world]: Frame [/world] does not exist"
"CameraCov/0
For frame [/world]: Frame [/world] does not exist"
And roswtf tells me that the pose subsciption is unconnected:
WARNING The following node subscriptions are unconnected:
- /Mono_SLAM:
- /pose
What am i missing?
br Martin
Found the problem with the World frame, one must use a static_transform e.g. with the kinect:
rosrun tf static_transform_publisher 0 0 0 0 0 0 /world /camera_link 100
After adding
odom.header.frame_id = "/world";
into nav_msgs::Odometry RosVSLAM::getVisualOdometry function now the visual_odometry topic seems also to be working fine...
Only pose is still unconnected...
Sorry for the late reply...
Yes, that would be the best way to do it!
hey, I am still stuck in the first issue,
although I run:
rosrun tf static_transform_publisher 0 0 0 0 0 0 1 map my_frame 10
the error changed from :
For frame [/world]: Fixed frame [/map] does not exist
to :
For frame [/world]: Frame [/world] does not exist
and : rosrun tf static_transform_publisher 0 0 0 0 0 0 /world /camera_link 100
doesn't solve it ,
it gives in fact something like:
no connection between world and map in tree.tf
the data appears for pose and feature though (on console)
Try to run a static transform between /world and /map