depthai-ros: [bug] {Tf publishers}

Maybe you’re on ROS melodic and you have more static TF publishers? If that’s the case and you’re replaying a bag file, it doesn’t work: https://github.com/ros/ros_comm/issues/146 (this issue has been fixed in Noetic). If you’re using Melodic, just install ros-melodic-static-transform-mux , open a console and run rosrun static_transform_mux static_transform_mux in it. After that, start replaying the bag file. Now you should have all TFs.

the issue was fixed with the latest merge in depth-core ai , thanks

What do you mean if i change from static ? Currently I’m having issues with RTABMAP because it can’t find the transform at time t.

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From: Sachin Guruswamy @.> Sent: Tuesday, November 1, 2022 7:33:57 AM To: luxonis/depthai-ros @.> Cc: an99990 @.>; Mention @.> Subject: Re: [luxonis/depthai-ros] [bug] {Tf publishers} (Issue #158)

https://github.com/ROBOTIS-GIT/turtlebot3/blob/master/turtlebot3_slam/launch/turtlebot3_manipulation_slam.launch Even though they mention the freq here. it would still be published only once since it is static. it will publush repetatively if you change from static. I reviewed how the robot_state_publisher is written.

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It means it will be published in /tf. I will add an option to change. If I understand what rtabmap is trying to do is get and change the replative from map to base of oak.