Robot Localization ekf_node: frame ID "camera_imu_optical_frame" does not exist
Hello,
I am new to ROS, and I was trying to use ROS2 to implement SLAM with RealSense Camera L515. I tried to search for others with similar issues, but haven't had any success.
Operating System & Version: Linux (Ubuntu 20.04) on Jetpack 5.01
ROS2 Distro: Foxy
Kernel Version: 5.10.65-tegra
Platform: NVIDIA Jetson Xavier NX
I'm working to set up odometry for my robot that utilizes the L515 and its internal imu. I don't have my wheel odometry set up yet, but I wanted to see if I could run the ekf_node from the robot localization package with just the imu first, but I encountered a barrage of warnings when I launched the node in conjunction with the realsense camera node. This message was repeatedly printed in the terminal:
[ekf_node-1] Warning: Invalid frame ID "camera_imu_optical_frame" passed to canTransform argument source_frame - frame does not exist
[ekf_node-1] at line 133 in /tmp/binarydeb/ros-foxy-tf2-0.13.13/src/buffer_core.cpp
My ekf.yaml config file is as follows:
### ekf config file
ekf_filter_node:
ros__parameters:
frequency: 30.0
sensor_timeout: 0.1
two_d_mode: false
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
debug_out_file: /path/to/debug/file.txt
publish_tf: true
publish_acceleration: false
map_frame: map # Defaults to "map" if unspecified
odom_frame: odom # Defaults to "odom" if unspecified
base_link_frame: camera_link # Defaults to "base_link" if unspecified
world_frame: odom # Defaults to the value of odom_frame if unspecified
odom0: example/odom
odom0_config: [true, true, false,
false, false, false,
false, false, false,
false, false, true,
false, false, false]
odom0_queue_size: 2
odom0_nodelay: false
odom0_differential: false
odom0_relative: false
odom0_pose_rejection_threshold: 5.0
odom0_twist_rejection_threshold: 1.0
odom1: example/odom2
odom1_config: [false, false, true,
false, false, false,
false, false, false,
false, false, true,
false, false, false]
odom1_differential: false
odom1_relative: true
odom1_queue_size: 2
odom1_pose_rejection_threshold: 2.0
odom1_twist_rejection_threshold: 0.2
odom1_nodelay: false
pose0: example/pose
pose0_config: [true, true, false,
false, false, false,
false, false, false,
false, false, false,
false, false, false]
pose0_differential: true
pose0_relative: false
pose0_queue_size: 5
pose0_rejection_threshold: 2.0 # Note the difference in parameter name
pose0_nodelay: false
twist0: example/twist
twist0_config: [false, false, false,
false, false, false,
true, true, true,
false, false, false,
false, false, false]
twist0_queue_size: 3
twist0_rejection_threshold: 2.0
twist0_nodelay: false
imu0: camera/imu
imu0_config: [false, false, false,
false, false, false,
false, false, false,
false, false, true,
true, false, false]
imu0_nodelay: false
imu0_differential: false
imu0_relative: true
imu0_queue_size: 5
imu0_pose_rejection_threshold: 0.8 # Note the difference in parameter names
imu0_twist_rejection_threshold: 0.8 #
imu0_linear_acceleration_rejection_threshold: 0.8 #
imu0_remove_gravitational_acceleration: true
use_control: true
stamped_control: false
control_timeout: 0.2
control_config: [true, false, false, false, false, true]
acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]
process_noise_covariance: [0.05, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0.0, 0 ...
