I would like to extract the twist information given on the "/rtabmap/odom "topic in the "map" frame. But I see that it is published in the "odom" frame and I'm not sure of how to go from one to the other. Is that possible and how would I do it in that case?
after a while we managed to solve it! The issue was not how we were making the transformation but the frames. It seems as if the twist message in /rtabmap/odom is actually in the "camera_link" frame and not the "odom" frame. When making the transformation between "camera_link" and "map" instead the result is great!