viso2_ros cannot obtain the reconstruction

[walkeryu123]

Hi,
I am using viso2_ros with ROS indigo, and the demo.launch seems work.
However when I use rviz with PointCloud2(stereo_odometer/point_cloud), I get the Transform error: For frame [stereo_forward_optical]: Frame [stereo_forward_optical] does not exist.

Can you give me some advice to solve this problem? Thanks in advance.

[plnegre]

Can you run:

rosrun tf view_frames

and post the tf tree here?

[walkeryu123]

@plnegre Thanks for your help.

Sorry, I do not know how can I change stereo_forward_optical to stereo_forward

[plnegre]

What is the frame_id of your images? stereo_forward or stereo_forward_optical? Check it in the header of your image topic.

[walkeryu123]

@plnegre I use test.bag downloaded from http://srv.uib.es/public/viso2_ros/sample_bagfiles and demo.launch in viso2_ros. I do not modify these files. So I think the frame_id is stereo_forward and I do not know why rviz need stereo_forward_optical.

[plnegre]

Ok, so in the demo.launch change this:

<param name="base_link_frame_id" value="$(arg camera)"/>

for this:

<param name="base_link_frame_id" value="stereo_forward_optical"/>

[walkeryu123]

@plnegre It works. Thank you for your help!