Set up robot model with odom from rtabmap

[cluelessnigerian]

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[matlabbe]

Hi,

The "base_to_kinect" publisher should be:

<node pkg="tf" type="static_transform_publisher" name="base_to_kinect" 
        args="0 0 0.1 0 0 0 base_link kinect2_base_link 100" />

instead of

<node pkg="tf" type="static_transform_publisher" name="base_to_kinect" 
        args="0 0 0.1 0 0 0 base_link kinect2_link 100" />

to have base_link -> kinect2_base_link -> kinect2_link

Note however that link base_link -> kinect2_link seems published already by a robot_state_publisher (URDF), if so and an optical rotation is required, do it in URDF instead.

cheers,
Mathieu

[cluelessnigerian]

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[matlabbe]

Hi,

Looking at the Tf tree, you should be able to get transform /base_footprint -> /kinect2_rgb_optical_frame.

You should update your URDF if you want to put /kinect2_base_link between /base_link and /kinect2_link. I assume you have an URDF if you are using a robot_state_publisher.

cheers