When taking odometry to tagslam, the callback do not works
Closed this issue · 6 comments
I have specify the odometry topic and transformation from odometry to odom and others as the website https://berndpfrommer.github.io/tagslam_web/input_files/ shows. And I am confirmed that the time stamp of odometry and images is identical. But when I run tagslam, the callback do not works.
Is there any advice for you ? Thank you.
Can you please post the console output of tagslam?
Also, do
rosnode info tagslam
(your tagslam node may have a different name). What topics is tagslam subscribing to? Is data coming on those topics (rostopic echo)?
Not sure where that zip file of yours went. I don't see it anywhere. If you already want to send me files, send them to bernd dot pfrommer at gmail dot com. Please send all your yaml files, the launch files you are using and a rosbag with the odometry and images. To keep the rosbag size to a minimum record just a couple of seconds. That should be enough to diagnose the problem.
Odom timestamps:
---
seq: 46
stamp:
secs: 1617186351
nsecs: 976934003
frame_id: "odom"
---
seq: 47
stamp:
secs: 1617186352
nsecs: 20548998
frame_id: "odom"
---
seq: 48
stamp:
secs: 1617186352
nsecs: 67111565
frame_id: "odom"
Tag detection time stamps (those come from the images):
---
seq: 1176
stamp:
secs: 1617186351
nsecs: 970810860
frame_id: "usb_cam"
---
seq: 1177
stamp:
secs: 1617186352
nsecs: 32014453
frame_id: "usb_cam"
---
seq: 1178
stamp:
secs: 1617186352
nsecs: 63741078
frame_id: "usb_cam"
---
The "solution" is to set use_approximate_sync: true in the tagslam.yaml file
Thank you so much for taking time to help, I could take odom topic to tagslam successfully now.