text: tf error: could not find connection between world and odom...
  Hello,
  I am trying to make hector quadrotor use viso2_ros ,, after having configured correctly ( mono_odometer of viso2_ros takes in image from front_cam of hector) , I got warning that viso2_ros couldn't find the mapping base_link to front_cam_optical_frame and in the rviz of hector simulation, when I tried to add show pose parameter , it outputted 'couldn't find connection between world and odom...'
  ok now I checked using tf view_frames
  and this is what I got
  ok maybe it was because of the lack of link between base_link and fornt_cam_optical_frame,,
  I linked both using some code
  #include <ros/ros.h> #include <tf/transform_broadcaster.h> int main(int argc, char** argv){ ros::init(argc, argv, "hector_remapping_tf"); ros::NodeHandle n; ros::Rate r(100); tf::TransformBroadcaster broadcaster; while(n.ok()){ broadcaster.sendTransform( tf::StampedTransform( tf::Transform(tf::Quaternion(0, 0, 0, 1), tf::Vector3(0.0, 0.0, -0.2)), ros::Time::now(),"base_link", "front_cam_optical_frame")); r.sleep(); } }
  now the warning of lack of base_link to front_cam_optical_frame was gone but still the world and odom frame are not linked (checked using tf view_frames and rviz)
  Do you have a localization node running (e.g. amcl)? viso2_ros does, as far as I realize, only provide visual odometry, i.e. the /odom -> /base_link transform. Thus you need a node which provides the /world or /map (whatever it's called in your case) -> /odom transform.
  mig, as i wont't have any drift errors ( UAV ) i thought of mapping map frame to odom frame instead of localization. ( unfortunately amcl only supports if its sensor is LIDAR based). Is there any easy route or do I have to write a listener-publisher of frames.
  ok i guess I found it, it was simple assignment of param values. param name="odom_frame" value="odom"/ param name="world_frame" value="odom"/
  jep, this would work.