Hi all
I am using a .bag file with RTAB-map ROS. It uses some static transforms between different camera frames to do the mapping.
When I feed "data.bag" into RTAB-map, it works fine.
Now, I create a dummy filtered rosbag, using:
rosbag filter data.bag data_filtered.bag "topic != '/thistopicdoesntexist'"
As this topic doesn't exist, it should create an identical .bag file. However, when I try to feed "data_filtered.bag" into RTAB-map, I get many errors like:
[ WARN] [1494031985.023853640, 1493939596.985478852]: Could not get transform from camera_depth to camera_color after 0.100000 seconds (for stamp=1493939594.615704)! Error=". canTransform returned after 0.10093 timeout was 0.1.".
1. It seems that the filtered bag somehow is missing data from the static TF transforms. When I "rostopic echo -b data_filtered.bag", however, it shows that the static transforms are there.
2. It seems that the dummy filtering actually alters the .bag. Both MD5 hash and file size are changed between "data.bag" and "data_filtered.bag"! No compression is used. Why is that?
Maybe the problem is related to the time stamp? In any case, I am using use_sim_time=true, and I am also using --clock when playing back the .bag files.
Any help would be appreciated.
Cheers,
- ibd
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