Problem When starting t265_tf_to_mavros.launch

[i-jelly]

I`ve got a WARN at the last step of installation.
after launch the t265_tf_to_mavros.launch, it shows that

Get output_rate parameter: 20.000000
[ INFO] [1617727957.134085485]: Get gamma_world parameter: -1.570796
[ INFO] [1617727957.135297278]: Get roll_cam parameter: 3.141593
[ INFO] [1617727957.136439071]: Get pitch_cam parameter: -1.570796
[ INFO] [1617727957.137552549]: Get yaw_cam parameter: 0.000000
[ INFO] [1617727957.138694787]: Precision landing: enabled
[ INFO] [1617727957.139966913]: Get precland_target_frame_id parameter: /landing_target
[ INFO] [1617727957.141412520]: Get precland_camera_frame_id parameter: /camera_fisheye2_optical_frame
[ WARN] [1617727960.154184135]: "camera_odom_frame" passed to lookupTransform argument target_frame does not exist.
[ WARN] [1617727961.154835400]: "camera_odom_frame" passed to lookupTransform argument target_frame does not exist.

and in the MAVLINK Inspector i still can`t see any vision data
i think this problem is related to tf_listener.lookupTransform(target_frame_id, source_frame_id, now, transform); in vision_to_mavros.cpp

[thien94]

Hi @i-jelly , thank you for the question.

The issue seems to be that there is no "camera_odom_frame" in the current tf tree. If you are using the T265, you can verify whether it exists or not by echoing the /tf topic and look for the frame with the same name.

[i-jelly]

Hi @thien94
Thank you for your attentions,
so wired, the problem happens only when runs on Ubuntu18 even after reinstall the system.
but Ubuntu20 seems to work properly.

[ipungg-junior]

Still same, i got this.

[ WARN] [1617727961.154835400]: "camera_link" passed to lookupTransform argument source_frame does not exist.

[i-jelly]

Still same, i got this.

[ WARN] [1617727961.154835400]: "camera_link" passed to lookupTransform argument source_frame does not exist.

Hello @ipungg-junior , can you share the detail of environment?
I tried this project on both Ros melodic with Ubuntu18 & Ros noetic with Ubuntu20 at Raspi4 4GRAM,but only Ubuntu20 works fine.

[ipungg-junior]

Thanks for attention @i-jelly
It seems topic not exist, like you.
Stressed. :)

[thien94]

@ipungg-junior

A quick explanation: the vision_to_mavros node receives data from the tf tree, particularly from the two frames named camera_link defined incamera_odom_frame by default. If you are using the realsense-ros driver for the T265, the names should match by default.

The warning message means that "camera_link" frame does not exist in the tf tree. First you need to check on the realsense-ros side: after you launch the realsense-ros node, echo the tf topic and you should see the frames "camera_link" and "camera_odom_frame". If not, then you have to edit the names of the frames in the t265_tf_to_mavros.launch file to match.

[Zave1d]

Excuse me I want to ask, I am still new to this, what I want to ask is whether to use the t265 real sense camera? Can I use a regular Logitech Camera?
Thank you (:

[Zave1d]

I have checked (rostopic echo /tf) and can come out the results
While when I try to check using (rostopic echo /masvros/vision_pose/pose) there is no result
me pusing_-

[thien94]

Hi @Zave1d , for this project we need a VIO tracking camera, so unfortunately a regular logitech camera would not suffice.

[Zave1d]

@thien94 Is that why, when I run the command (rostopic echo /masvros/vision_pose/pose) on the teminal, the drone position data does not come out, while when I run (rostopic echo /tf) it comes out the drone position data
Note: when I hover the tag on the camera

[mqgeng]

Thanks for your answer. I met the same "“camera_odom_frame” is not exsit" on the ubuntu20.04, I tried to install the driver as the link: https://github.com/IntelRealSense/realsense-ros/tree/ros1-legacy. Then I launched the node again and there was camera_odom_frame , I am so happy. Thanks again.

@ipungg-junior

A quick explanation: the vision_to_mavros node receives data from the tf tree, particularly from the two frames named camera_link defined incamera_odom_frame by default. If you are using the realsense-ros driver for the T265, the names should match by default.

The warning message means that "camera_link" frame does not exist in the tf tree. First you need to check on the realsense-ros side: after you launch the realsense-ros node, echo the tf topic and you should see the frames "camera_link" and "camera_odom_frame". If not, then you have to edit the names of the frames in the t265_tf_to_mavros.launch file to match.