How to setup tf properly in ROS2 usage

[chuck00lin]

Issue Description

I am encountering an issue related totftransforms while working on the stella-vslam project in ROS2. I have two main questions and would greatly appreciate any advice or troubleshooting assistance.

Question 1

I am unsure about the correct approach to pass thecanTransformargument to target_frame.

Environment:

• ROS2 Humble
• Gazebo Garden
• PX4 SITL (UAV simulation using Gazebo)

Steps to reproduce:

1. I am using the model found at: PX4 Autopilot. Specifically, I added a Gazebo camera module as follows:

    <joint name="camera_joint" type="fixed">
        <parent>base_link</parent>
        <child>camera_link</child>
        <link name="camera_link">
        <sensor name="camera" type="camera">
            <topic>camera/image_raw</topic>

2. I published an image from Gazebo using: ros2 run ros_gz_image image_bridge /camera/image_raw
3. I ran a ROS node using: ros2 run stella_vslam_ros run_slam -v ./orb_vocab.fbow -c ./gazebo_720p.yaml --map-db-out ./runcam_720_0420.msg -r --frame-skip 3

Actual behavior:

I received the following error message:

[ERROR] [1685629553.292168034] [run_slam]: Transform failed: "x500_vision_0/camera_link/camera" passed to lookupTransform argument target_frame does not exist. 
Warning: Invalid frame ID "x500_vision_0/camera_link/camera" passed to canTransform argument target_frame - frame does not exist                                      
         at line 93 in ./src/buffer_core.cpp  

Question 2

I followed the tutorial available at Stella VSLAM ROS.

• I am puzzled about why odom and base_link, which typically have a dynamic relationship in the real world, are set to the same spot.
• I am also confused about the purpose of setting all relations at static points. How does this differ from setting the publish_tf argument to "false"?

Here is the part of tutorial:

root@hostname:/ros2_ws# ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 odom base_link
root@hostname:/ros2_ws# ros2 run tf2_ros static_transform_publisher 0 0 0 0 0 0 base_link cam0

I am looking forward to your guidance and suggestions for these issues. Thank you for your time and support.

[chuck00lin]

I think I've found the answer, sorry for beginner question