Exception trying to transform a point from "camera_optical_frame" to "world"

I am pretty new to drone development. I am trying to get the obstacle avoidance system working on the Intel Aero drone. Ubuntu is installed on the drone. I am using the steps in https://docs.px4.io/en/flight_controller/intel_aero.html to setup the drone.

The problem is that when I start the obstacle avoidance system using the following command

roslaunch local_planner local_planner_aero.launch I get the following error:

[ERROR] [1529610432.172925977]: Received an exception trying to transform a point from “camera_optical_frame” to “world”: Could not find a connection between ‘world’ and ‘camera_depth_optical_frame’ because they are not part of the same tree.Tf has two or more unconnected trees.
[ WARN] [1529610432.173070844]: MSG to TF: Quaternion Not Properly Normalized
[ERROR] [1529610432.177183553]: MODE: Unsupported FCU
[ERROR] [1529610432.177546327]: Pointcloud timeout: Landing failed!

I attached the entire output from when I run this command.

Does anyone know what might be causing this? I can’t find anything online about it.

AvoidanceErrorOutput.pdf (67.0 KB)

Jonathan L Clark
Software Engineer