TF tree for HectorSLAM robot localization and Rtabmap

[bj-neilson]

Hi Mathieu,

I’ve had a good search but haven’t found an answer.

Do you have an image of a TF tree for HectorSLAM and Zed (or similar) feeding odom to Robot Localization, then to Rtabmap?  Been trying to get it working. So far I’ve just broken everything 😫.  Any quick tips by any chance?

Ta,
Ben

[matlabbe]

Hi Ben,

I don't have example including robot_localization, just hector as input odometry, did you try this one: http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_2D_laser




cheers,
Mathieu

[bj-neilson]

Hi Mathieu,

Thanks for that. Yeah I tried working off that TF tree as a starting point but ended up in a tangle.  I’ll have a look around some other ROS forums for some ideas.  Trying to get as many low cost inputs included as possible to hopefully achieve a very robust SLAM solution.

Thanks
Ben