Converting between T265 Odometry coordinates to RTABMAP Occupancy Grid Coordinates

[uhroosh]

Hi,

Is the coordinate system for the pose data we get from /t265/odom/sample equivalent to the coordinate system used for the /rtabmap/grid_map? I see that the origin of the occupancy grid from /rtabmap/grid_map is not at a constant position, especially when the occupancy grid grows in size.

Is there any easy way to translate between the two coordinate systems? I saw some other threads talking about TF, but wasn't sure how to easily implement that into my launch file/workflow. Here's the current launch file I'm using:


<launch>
   
    <arg name="device_type_camera1"     default="t265"/>
    <arg name="device_type_camera2"     default="l515"/>       
    <arg name="serial_no_camera1"     default=""/>
    <arg name="serial_no_camera2"     default=""/>
    <arg name="camera1"               default="t265"/>               
    <arg name="camera2"               default="l515"/>               
    <arg name="clip_distance"             default="-2"/>
    <arg name="use_rviz"                  default="false"/>
    <arg name="use_rtabmapviz"            default="false"/>
   

    <include file="$(find realsense2_camera)/launch/rs_d400_and_t265.launch">
            <arg name="device_type_camera1"             value="$(arg device_type_camera1)"/>
            <arg name="device_type_camera2"             value="$(arg device_type_camera2)"/>
            <arg name="serial_no_camera1"               value="$(arg serial_no_camera1)"/>
            <arg name="serial_no_camera2"               value="$(arg serial_no_camera2)"/>
            <arg name="camera1"                         value="$(arg camera1)"/>
            <arg name="camera2"                         value="$(arg camera2)"/>
            <arg name="clip_distance"                   value="$(arg clip_distance)"/>
           
    </include>

    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
           
            <arg name="rtabmap_args" value="--delete_db_on_start
                                        --Params:Grid/FromDepth=true
                                        --Params:Grid/RayTracing=true
                                        --Params:Grid/RangeMax=5.0" />
            <arg name="depth_topic"        value="/$(arg camera2)/aligned_depth_to_color/image_raw"/>
            <arg name="frame_id"           value="$(arg camera2)_link"/>
            <arg name="visual_odometry"    value="false"/>
            <arg name="odom_topic"         value="/$(arg camera1)/odom/sample"/>
            <arg name="rgb_topic"          value="/$(arg camera2)/color/image_raw"/>
            <arg name="camera_info_topic"  value="/$(arg camera2)/color/camera_info"/>
            <arg name="queue_size"         value="400"/>
            <arg name="rviz"               value="$(arg use_rviz)"/>
            <arg name="rtabmapviz"         value="$(arg use_rtabmapviz)"/>
    </include>
</launch>

[matlabbe]

Do you mean the rotation looks wrong? or just that there is an offset in position? The origin of the grid map should match the first pose received from odometry.

[uhroosh]

Sorry for the inconvenience, I fixed my problem, there was nothing wrong with RTABMAP or ROS.