{"action":"created","issue":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/16","labels_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/16/labels{/name}","comments_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/16/comments","events_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/16/events","html_url":"https://github.com/introlab/rtabmap_ros/issues/16","id":85773302,"number":16,"title":"No map data received from rtabmap. ","user":{"login":"tanmayshankar","id":11453811,"avatar_url":"https://avatars.githubusercontent.com/u/11453811?v=3","gravatar_id":"","url":"https://api.github.com/users/tanmayshankar","html_url":"https://github.com/tanmayshankar","followers_url":"https://api.github.com/users/tanmayshankar/followers","following_url":"https://api.github.com/users/tanmayshankar/following{/other_user}","gists_url":"https://api.github.com/users/tanmayshankar/gists{/gist_id}","starred_url":"https://api.github.com/users/tanmayshankar/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/tanmayshankar/subscriptions","organizations_url":"https://api.github.com/users/tanmayshankar/orgs","repos_url":"https://api.github.com/users/tanmayshankar/repos","events_url":"https://api.github.com/users/tanmayshankar/events{/privacy}","received_events_url":"https://api.github.com/users/tanmayshankar/received_events","type":"User","site_admin":false},"labels":[],"state":"closed","locked":false,"assignee":null,"milestone":null,"comments":1,"created_at":"2015-06-06T15:52:24Z","updated_at":"2015-06-08T02:06:45Z","closed_at":"2015-06-08T02:06:45Z","body":"Hello, \r\n\r\nI'm running Ubuntu 12.04, Ros Hydro, I have rtabmap_ros compiled from source (as per instructions). \r\nI am using a stereo camera with (I think) the Stereo B configuration. I have modified the demo_stereo_outdoor.launch file accordingly, by removing the node republishing, remapping to stereo_camera namespace, and set use_sim_time to false. The rtabmap node is running when I launch this file. I also changed base_footprint to base_link. \r\n\r\nI also set up a tf broadcaster between base_link frame and camera, and set it to a constant value (0 translation), since I am holding the camera. Now the issue is that all my rtabmap/cloud_map, rtabmap/map rtabmap/path  ... (blah blah blah) topics are empty when I echo them. In rviz, my camera frame is moving around with respect to the map frame, but I cannot view the map, the path, or any clouds (optimized or not). \r\n\r\nI think the issue could be arising from the following - \r\n1) rviz file could be incorrectly set up since it is the one being used for the demo stereo outdoor.\r\n2) tf tree / frame ID's could be incorrect. This is surprising, since my tf tree is - map --> odom --> base_link --> camera, which seems correct to me. \r\n\r\nAlso, another glitch that is occurring (but should not make a difference), is that I am supplying the camera frame id, which is an optical frame, but pointcloud frames are defined with a different orientation. \r\n\r\n1) Any suggestions on how to solve the mapping issue? \r\n2) Can anyone confirm what frame I am expected to supply to the node? \r\n\r\nThanks! \r\n"},"comment":{"url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/comments/109827045","html_url":"https://github.com/introlab/rtabmap_ros/issues/16#issuecomment-109827045","issue_url":"https://api.github.com/repos/introlab/rtabmap_ros/issues/16","id":109827045,"user":{"login":"matlabbe","id":2319645,"avatar_url":"https://avatars.githubusercontent.com/u/2319645?v=3","gravatar_id":"","url":"https://api.github.com/users/matlabbe","html_url":"https://github.com/matlabbe","followers_url":"https://api.github.com/users/matlabbe/followers","following_url":"https://api.github.com/users/matlabbe/following{/other_user}","gists_url":"https://api.github.com/users/matlabbe/gists{/gist_id}","starred_url":"https://api.github.com/users/matlabbe/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/matlabbe/subscriptions","organizations_url":"https://api.github.com/users/matlabbe/orgs","repos_url":"https://api.github.com/users/matlabbe/repos","events_url":"https://api.github.com/users/matlabbe/events{/privacy}","received_events_url":"https://api.github.com/users/matlabbe/received_events","type":"User","site_admin":false},"created_at":"2015-06-08T02:06:45Z","updated_at":"2015-06-08T02:06:45Z","body":"There is an answer here: http://answers.ros.org/question/210614/no-map-data-for-rtabmap_ros/?answer=210765#post-id-210765\r\nFor further problems about this topic, continue on the ROS answers."}}