Hi, I am trying to connect ZED to Rtabmap for vslam, but keep getting this error even after trying many variations of settings. Does someone know why this might be happening?
[ERROR] (2026-02-25 19:12:19.447) MsgConversion.cpp:2182::convertRGBDMsgs() TF of received image for camera 0 at time 1772064739.025150s is not set!
I am running:
ros2 launch rtabmap_launch rtabmap.launch.py rtabmap_args:=“–delete_db_on_start Rtabmap/TFBufferSize 500” rgb_topic:=/zed2i/zed_node/rgb/color/rect/image depth_topic:=/zed2i/zed_node/depth/depth_registered camera_info_topic:=/zed2i/zed_node/rgb/color/rect/camera_info depth_camera_info_topic:=/zed2i/zed_node/depth/camera_info imu_topic:=/zed2i/zed_node/imu/data odom_topic:=odom frame_id:=zed2i_camera_link approx_sync:=true wait_imu_to_init:=false wait_for_transform_duration:=0.02 always_check_imu_tf:=false rgbd_odometry:=false approx_sync_max_interval:=0.02
ros2 launch zed_wrapper zed_camera.launch.py camera_model:=zed2i camera_name:=zed2i node_name:=zed_node publish_tf:=false publish_map_tf:=false publish_imu_tf:=true imu_enabled:=true depth_mode:=DEPTH_MODE_PERFORMANCE enable_depth:=true pos_tracking_enabled:=true use_sim_time:=false