Error transforming odometry 'pgoOdom' from frame '/camera_init' to frame 'camera_init'

[Auto-RunningWang]

Hello @gisbi-kim , thank you for your amazing work. I tried FAST_LIO_SLAM(using KAIST 03 sequence of MulRan dataset).I got transforming error when I launched "aloam_velodyne fastlio_ouster64.launch" and then crashed, just the following result.Pelase give me some advice for the error,thanks!

[harveybia]

Refer to: laboshinl/loam_velodyne#157
Changing all the /camera_init frames to camera_init in the code fixed this for me.

[ManChrys]

Hello @Auto-RunningWang

Did you try to remove all gtsam versions and install everything from the beginning, following the steps on issue #8 ?

[Auto-RunningWang]

Hello @ManChrys, I installed gtsam 4.0.3 and this bug looks like related to coordinate frame. Are you sure change gtsam version can make difference?

@ManChrys Thank you very much. I tried your advice to reinstall gtsam following the guidance of issue #8 and solved the program crash bug.

[Auto-RunningWang]

At last, I solved my problem based on the advice of @harveybia and @ManChrys

[ManChrys]

Yeah all these pgo errors have to do with gtsam version. That's my opinion. I'm happy that my answer helps you my friend. Have a nice day!!