MapIV/eagleye

Failed to lookup transform: "imu_link" passed to lookupTransform argument source_frame does not exist.

Chenjq-99 opened this issue · 1 comments

Chenjq-99 commented

I want to run my own rosbag package, but its message does not contain /rtklib_nav. Can it be used? At the same time, I also changed the eagleye_config.yaml file to match my bag.
But the error "Failed to lookup transform: "imu_link" passed to lookupTransform argument source_frame does not exist. " is still reported when running.
"
path: 2022-07-14-19-51-21.bag
version: 2.0
duration: 2:34s (154s)
start: Jul 14 2022 19:51:21.53 (1657799481.53)
end: Jul 14 2022 19:53:55.56 (1657799635.56)
size: 14.1 MB
messages: 46161
compression: none [19/19 chunks]
types: gps_common/GPSFix [3db3d0a7bc53054c67c528af84710b70]
rosgraph_msgs/Log [acffd30cd6b6de30f120938c17c593fb]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48]
topics: /gps_fix 15385 msgs : gps_common/GPSFix
/imu_raw 15386 msgs : sensor_msgs/Imu
/nav_sat_fix 15386 msgs : sensor_msgs/NavSatFix
/rosout 4 msgs : rosgraph_msgs/Log

"

rsasaki0109 commented

If /rtklib_nav is not available, it is necessary to prepare a topic for GNSS latitude, longitude, and height, and a topic for GNSS speed.

gnss:
  velocity_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, ublox_msgs/NavPVT: 2, geometry_msgs/TwistWithCovarianceStamped: 3
  velocity_source_topic: /rtklib_nav
  llh_source_type: 0 # rtklib_msgs/RtklibNav: 0, nmea_msgs/Sentence: 1, sensor_msgs/NavSatFix: 2
  llh_source_topic:  /rtklib_nav

https://github.com/MapIV/eagleye/blob/v1.7.1-ros2/eagleye_rt/config/eagleye_config.yaml#L12-L16

It is necessary to change the following imu to imu_link.

   <node name="static_transform_publisher" pkg="tf2_ros" exec="static_transform_publisher" args="0 0 0 0 0 0 base_link imu">

https://github.com/MapIV/eagleye/blob/v1.7.1-ros2/eagleye_util/tf/launch/tf.launch.xml#L11