[QUESTION] "God damnit, A is singular, this shouldn't happen" when running kimera_vio

[18lalala]

Hi, I followed the instructions to install hydra_ros and kimera_vio_ros, and I downloaded uHumans2_apartment_s1_00h.bag. When running hydra with kimera_vio, I met this warning, and the terminal of hydra shows E0730 17:53:41.888036 884820 lookup_tf.cpp:95] Failed to find: odom_T_base_link_kimera @ 7447910000 [ns]: canTransform: target_frame odom does not exist.. canTransform returned after 0 timeout was 0.

[nathanhhughes]

Hi, thanks for your interest in our work! Unfortunately I think there is a misalignment in the instructions for running with Kimera-VIO-ROS (that I will get around to fixing eventually). We have a slightly different launch file we use for Kimera-VIO-ROS that sets the TF frame that the odometry is published in to be odom, not world (this is mostly because we've disabled PnP so we no longer get all of the A is singular error messages). You can either set odom_frame_id:=odom when launching kimera_vio_ros_uhumans2.launch or set odom_frame:=world when running Hydra. The first option is more likely to work off the top of my head