TF shows error as soon as I launch RTAB.

[avianbob]

This is the status of my TF before I launch RTAB Map. For this I have kept Odom as the Fixed Frame -

And this is the status of my TF after I launch RTAB MAP. For this I have kept Map as the Fixed Frame -

Why do I get this error? Also my ROS Graph after I launch RTAB is -

[matlabbe]

Try showing the tf tree instead:

ros2 run tf2_tools view_frames

I suspect rtabmap not publising map -> x500_mono_cam_down_0/odom but maybe map -> odom. I see /odom topic is not connected to /rtabmap, what value did you set for odom_frame_id parameter? If it is the right frame, make sure you are set use_sim_time on all nodes (as I see you are using gazebo).

[avianbob]

Thanks for replying. I was able to figure out this issue. My TF time was out of place and I have fixed that now. Now I have also included IMU for RTAB Mapping. Here is the TF Tree and the TF Link I am able to see in RViz. Is this correct? In the RViz Screen the Odometry topic is with the Map topic attached downwards. Is that fine?

As you can see above I have Odom topic fixed with Map topic at bottom.

Thank you for your help.

[matlabbe]

map and odom frames would be together until a loop closure is detected.