gazebo仿真中使用D435i模型frame_id问题

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在github上找的iris_D453i模型在使用遇到的问题，github链接：tugepaopaoo/realsense_ros_gazebo: D435i, iris_D435i models in gazebo. (github.com)
单独打开D435i模型时，相机发布的主题如下：
rostopic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/imu
/camera/infra1/camera_info
/camera/infra1/image_raw
/camera/infra1/image_raw/compressed
/camera/infra1/image_raw/compressed/parameter_descriptions
/camera/infra1/image_raw/compressed/parameter_updates
/camera/infra1/image_raw/compressedDepth
/camera/infra1/image_raw/compressedDepth/parameter_descriptions
/camera/infra1/image_raw/compressedDepth/parameter_updates
/camera/infra1/image_raw/theora
/camera/infra1/image_raw/theora/parameter_descriptions
/camera/infra1/image_raw/theora/parameter_updates
/camera/infra2/camera_info
/camera/infra2/image_raw
/camera/infra2/image_raw/compressed
/camera/infra2/image_raw/compressed/parameter_descriptions
/camera/infra2/image_raw/compressed/parameter_updates
/camera/infra2/image_raw/compressedDepth
/camera/infra2/image_raw/compressedDepth/parameter_descriptions
/camera/infra2/image_raw/compressedDepth/parameter_updates
/camera/infra2/image_raw/theora
/camera/infra2/image_raw/theora/parameter_descriptions
/camera/infra2/image_raw/theora/parameter_updates
/clock
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/rosout
/rosout_agg

查看/camera/color/image_raw话题的frame_id如下：
rostopic echo /camera/color/image_raw | grep frame_id
  frame_id: "camera_color_frame"
  frame_id: "camera_color_frame"

但是当我使用iris_D435i模型时

topic如下：
rostopic list
/camera/color/camera_info
/camera/color/image_raw
/camera/color/image_raw/compressed
/camera/color/image_raw/compressed/parameter_descriptions
/camera/color/image_raw/compressed/parameter_updates
/camera/color/image_raw/compressedDepth
/camera/color/image_raw/compressedDepth/parameter_descriptions
/camera/color/image_raw/compressedDepth/parameter_updates
/camera/color/image_raw/theora
/camera/color/image_raw/theora/parameter_descriptions
/camera/color/image_raw/theora/parameter_updates
/camera/depth/camera_info
/camera/depth/color/points
/camera/depth/image_raw
/camera/depth/image_raw/compressed
/camera/depth/image_raw/compressed/parameter_descriptions
/camera/depth/image_raw/compressed/parameter_updates
/camera/depth/image_raw/compressedDepth
/camera/depth/image_raw/compressedDepth/parameter_descriptions
/camera/depth/image_raw/compressedDepth/parameter_updates
/camera/depth/image_raw/theora
/camera/depth/image_raw/theora/parameter_descriptions
/camera/depth/image_raw/theora/parameter_updates
/camera/imu
/camera/infra1/camera_info
/camera/infra1/image_raw
/camera/infra1/image_raw/compressed
/camera/infra1/image_raw/compressed/parameter_descriptions
/camera/infra1/image_raw/compressed/parameter_updates
/camera/infra1/image_raw/compressedDepth
/camera/infra1/image_raw/compressedDepth/parameter_descriptions
/camera/infra1/image_raw/compressedDepth/parameter_updates
/camera/infra1/image_raw/theora
/camera/infra1/image_raw/theora/parameter_descriptions
/camera/infra1/image_raw/theora/parameter_updates
/camera/infra2/camera_info
/camera/infra2/image_raw
/camera/infra2/image_raw/compressed
/camera/infra2/image_raw/compressed/parameter_descriptions
/camera/infra2/image_raw/compressed/parameter_updates
/camera/infra2/image_raw/compressedDepth
/camera/infra2/image_raw/compressedDepth/parameter_descriptions
/camera/infra2/image_raw/compressedDepth/parameter_updates
/camera/infra2/image_raw/theora
/camera/infra2/image_raw/theora/parameter_descriptions
/camera/infra2/image_raw/theora/parameter_updates
/clock
/diagnostics
/gazebo/link_states
/gazebo/model_states
/gazebo/parameter_descriptions
/gazebo/parameter_updates
/gazebo/set_link_state
/gazebo/set_model_state
/mavlink/from
/mavlink/gcs_ip
/mavlink/to
/mavros/actuator_control
/mavros/adsb/send
/mavros/adsb/vehicle
/mavros/altitude
/mavros/battery
/mavros/cam_imu_sync/cam_imu_stamp
/mavros/camera/image_captured
/mavros/cellular_status/status
/mavros/companion_process/status
/mavros/debug_value/debug
/mavros/debug_value/debug_float_array
/mavros/debug_value/debug_vector
/mavros/debug_value/named_value_float
/mavros/debug_value/named_value_int
/mavros/debug_value/send
/mavros/esc_info
/mavros/esc_status
/mavros/esc_telemetry
/mavros/estimator_status
/mavros/extended_state
/mavros/fake_gps/mocap/tf
/mavros/geofence/waypoints
/mavros/global_position/compass_hdg
/mavros/global_position/global
/mavros/global_position/gp_lp_offset
/mavros/global_position/gp_origin
/mavros/global_position/home
/mavros/global_position/local
/mavros/global_position/raw/fix
/mavros/global_position/raw/gps_vel
/mavros/global_position/raw/satellites
/mavros/global_position/rel_alt
/mavros/global_position/set_gp_origin
/mavros/gps_input/gps_input
/mavros/gps_rtk/rtk_baseline
/mavros/gps_rtk/send_rtcm
/mavros/gpsstatus/gps1/raw
/mavros/gpsstatus/gps1/rtk
/mavros/gpsstatus/gps2/raw
/mavros/gpsstatus/gps2/rtk
/mavros/hil/actuator_controls
/mavros/hil/controls
/mavros/hil/gps
/mavros/hil/imu_ned
/mavros/hil/optical_flow
/mavros/hil/rc_inputs
/mavros/hil/state
/mavros/home_position/home
/mavros/home_position/set
/mavros/imu/data
/mavros/imu/data_raw
/mavros/imu/diff_pressure
/mavros/imu/mag
/mavros/imu/static_pressure
/mavros/imu/temperature_baro
/mavros/imu/temperature_imu
/mavros/landing_target/lt_marker
/mavros/landing_target/pose
/mavros/landing_target/pose_in
/mavros/local_position/accel
/mavros/local_position/odom
/mavros/local_position/pose
/mavros/local_position/pose_cov
/mavros/local_position/velocity_body
/mavros/local_position/velocity_body_cov
/mavros/local_position/velocity_local
/mavros/log_transfer/raw/log_data
/mavros/log_transfer/raw/log_entry
/mavros/mag_calibration/report
/mavros/mag_calibration/status
/mavros/manual_control/control
/mavros/manual_control/send
/mavros/mission/reached
/mavros/mission/waypoints
/mavros/mocap/pose
/mavros/mount_control/command
/mavros/mount_control/orientation
/mavros/mount_control/status
/mavros/nav_controller_output
/mavros/obstacle/send
/mavros/odometry/in
/mavros/odometry/out
/mavros/onboard_computer/status
/mavros/param/param_value
/mavros/play_tune
/mavros/px4flow/ground_distance
/mavros/px4flow/raw/optical_flow_rad
/mavros/px4flow/raw/send
/mavros/px4flow/temperature
/mavros/radio_status
/mavros/rallypoint/waypoints
/mavros/rc/in
/mavros/rc/out
/mavros/rc/override
/mavros/setpoint_accel/accel
/mavros/setpoint_attitude/cmd_vel
/mavros/setpoint_attitude/thrust
/mavros/setpoint_position/global
/mavros/setpoint_position/global_to_local
/mavros/setpoint_position/local
/mavros/setpoint_raw/attitude
/mavros/setpoint_raw/global
/mavros/setpoint_raw/local
/mavros/setpoint_raw/target_attitude
/mavros/setpoint_raw/target_global
/mavros/setpoint_raw/target_local
/mavros/setpoint_trajectory/desired
/mavros/setpoint_trajectory/local
/mavros/setpoint_velocity/cmd_vel
/mavros/setpoint_velocity/cmd_vel_unstamped
/mavros/state
/mavros/statustext/recv
/mavros/statustext/send
/mavros/target_actuator_control
/mavros/terrain/report
/mavros/time_reference
/mavros/timesync_status
/mavros/trajectory/desired
/mavros/trajectory/generated
/mavros/trajectory/path
/mavros/tunnel/in
/mavros/tunnel/out
/mavros/vfr_hud
/mavros/vision_pose/pose
/mavros/vision_pose/pose_cov
/mavros/vision_speed/speed_twist_cov
/mavros/wind_estimation
/move_base_simple/goal
/rosout
/rosout_agg
/tf
/tf_static

查看/camera/color/image_raw话题的frame_id变成了这样：
rostopic echo /camera/color/image_raw | grep frame_id
  frame_id: "D435i::camera_color_frame"
  frame_id: "D435i::camera_color_frame"

D435i发布的话题的frame_id前面都带了D435i，使用rtabmap建图时，报错

[ WARN] [1699587886.688285422, 886.259000000]: Could not get transform from base_link to D435i::camera_color_frame after 0.200000 seconds (for stamp=885.501000)! Error="canTransform: source_frame D435i::camera_color_frame does not exist.. canTransform returned after 0.201 timeout was 0.2.".
[ERROR] [1699587886.688376422, 886.259000000]: TF of received image 0 at time 885.501000s is not set!
[ERROR] [1699587886.688411322, 886.259000000]: Could not convert rgb/depth msgs! Aborting rtabmap_viz update...

整体的tf树如下：

请问大佬如何解决在gazebo中iris_D435i，使用rtabmap建图的问题

附上launch文件：
<launch>
    <node pkg = "tf" name="camera_to_base_link" type = "static_transform_publisher" args="0.1 0 0 0 0 0 base_link camera_link 100"/>
    <!-- vehicle pose-->
    <arg name="x" default="0"/>
    <arg name="y" default="0"/>
    <arg name="z" default="0"/>
    <arg name="R" default="0"/>
    <arg name="P" default="0"/>
    <arg name="Y" default="0"/>
    <arg name="world" default="$(find my_px4)/sim/worlds/test_world.world"/>
    <arg name="sdf" default="$(find realsense_ros_gazebo)/sdf/iris_D435i/iris_D435i.sdf"/>
    <arg name="verbose" default="false"/>
    <arg name="debug" default="false"/>

    <include file="$(find px4)/launch/mavros_posix_sitl.launch">
        <arg name="x" value="$(arg x)"/>
        <arg name="y" value="$(arg y)"/>
        <arg name="z" value="$(arg z)"/>
        <arg name="R" value="$(arg R)"/>
        <arg name="P" value="$(arg P)"/>
        <arg name="Y" value="$(arg Y)"/>
        <arg name="sdf" value="$(arg sdf)"/>
        <arg name="verbose" value="$(arg verbose)"/>
        <arg name="debug" value="$(arg debug)"/>
        <arg name="world" value="$(arg world)"/>
    </include>
</launch>



rtabmap的launch文件：
<launch>
      <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
        <arg name="rtabmap_args"       value="--delete_db_on_start"/>
        <arg name="rgb_topic"          value="/camera/color/image_raw"/>
        <arg name="depth_topic"        value="/camera/depth/image_raw"/>
        <arg name="camera_info_topic"  value="/camera/color/camera_info"/>
        <arg name="depth_camera_info_topic"   value="/camera/depth/camera_info"/>
        <arg name="approx_sync"        value="true"/>
        <arg name="visual_odometry"    value="false"/>
        <arg name="map_frame_id"       value="map"/>
        <arg name="frame_id"           value="base_link"/>
        <arg name="odom_topic"         value="/mavros/local_position/odom"/>
        <arg name="rviz"               value="true"/>
        <arg name="rtabmapviz"         value="true"/>
        <arg name="queue_size"         value="10"/>
    </include>
</launch>

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最佳答案

使用的是px4-PX4 Autopilot 1.12.3版本

• Blank
• 发表于2023-11-10
• 详细答案 >

Blank

使用的是px4-PX4 Autopilot 1.12.3版本