SensorFusion

[hosseinSoroushi]

Hi
I know I can fuse imu with xtion(kinect) to improve accuracy of mapping as mentioned previously in this site.

but when I run the launch_file many "TF" errors occurred. i tried many times to solve this problem with ROS TF static publisher but it didn't help.

Can anyone guide me as to do this???

THANKS.

[Jimmy Notron]

Do you have any IMU that publishing data in path is wrote in launch file ?

[hosseinSoroushi]

Yes, of course.
the error is about  TF relation between "Odom" and  "camera_link".
and between "base_Link" and "camera_depth_optical_frame".

[matlabbe]

Can you copy/paste the errors?

Also post your TF tree to see if the frames are published:

$ rosrun tf view_frames
$ evince  frame.pdf

[hosseinSoroushi]

Thanks matlabbe.
It's been solved but a new problem happened
the point Cloud, as shown in the photo below, start rotating


RVIZ


RTABMAPVIZ

in taking this photo everything is fixed.
can anyone help me solving ?

thank you.

[matlabbe]

Is the output of the sensor fusion? Are the inputs drifting?

Compare output of visual odometry and the output of sensor fusion.

$ rostopic echo /odometry_combined
$ rostopic echo /rtabmap/odometry