RTAB-Map error: “Could not convert rgb/depth msgs!”
RTAB-Map rgb/depth convert error caused by TF/URDF mismatch; restore + rebuild.
That error usually indicates a TF (transform) tree failure — RTAB-Map can’t resolve the transform between the robot base and the camera frame.
Common symptom in logs: base_link and front_camera_color_optical_frame are not in the same TF tree.
This almost always happens if the BotBrain-modified URDF/Xacro files were replaced with standard Unitree files (BotBrain uses modified naming, e.g., trunk → base_link).
Fix:
- Restore the original BotBrain description files.
- Delete
build/,install/, andlog/.
- Rebuild completely:
docker compose up builder_base
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