How to publish an initial pose that aligns the gravity?

[zhanghua7099]

Hi!

I want to publish an initial pose that aligns the gravity. However, I get these errors:

[ERROR] [1645425627.770364828]: Transform failed: "map" passed to lookupTransform argument target_frame does not exist.
[ERROR] [1645425627.810198340]: Transform failed: Lookup would require extrapolation at time 1645425627.804086924, but only time 1645425628.242834568 is in the buffe, when looking up transform from frame [camera_imu_optical_frame] to frame [map]

It seems that the "/initialpose" topic that I write is wrong.

Could you please give some examples about "/initialpose"?

Thank you!

[ymd-stella]

See #91.