introlab
My rtabmap has no image, and the LaserScan is broken in rviz.
Hello, hope you can help me, my rtabmap using D435i camera has no image
my_rtabmap.launch:
my_rtabmap.txt
How can I make the image appear normally? Looking forward to your reply. Thank you.
My D435i.launch D435i.txt
In addition, when I execute my_rtabmap.launch, a warning will appear. I guess this warning is a LaserScan conversion problem in rviz. I don’t know how to solve it.I use 2D lidar.
Warnings from my_rtabmap.launch execution
[ WARN] [1711639210.999439868]: Timed out waiting for transform from base_link to map to become available before running costmap, tf error: Lookup would require extrapolation 21.983554518s into the past. Requested time 1711639211.094828367 but the earliest data is at time 1711639233.078382730, when looking up transform from frame [base_link] to frame [map]. canTransform returned after 0.101144 timeout was 0.1.
LaserScan error from rviz :
Transform [sender=unknown_publisher]
For frame [base_link]: No transform to fixed frame [map]. TF error: [Lookup would require extrapolation 30.758779551s into the future. Requested time 1711639594.517050028 but the latest data is at time 1711639563.758270502, when looking up transform from frame [base_link] to frame [map]]
my_move_base.launch move_base.txt
tf tree
I have referred to many articles and roswiki but failed. I hope you can help me solve it. Thank you again.
