my robot model is under the map

[Adam_lahoud]

Hi,

I have build a wheeled robot model. I have added two realsense D435 cameras at the front to this robot and one at the back as shown in figure.
I used a realsense T265 tilted by 45 degree with respect to base_link that provides odometry.

I am using rtabmap. The generated frames tree is given by frames.pdf.

The problem is that when running slam, the robot is tilted under the map as shown in figure  and .

Any suggestions?

[mtal]

Hello, you need to adjust frame_id properly. On Turtlebot3 it is set like this:

<param name="frame_id"         type="string" value="base_footprint"/>

Regards

[Adam_lahoud]

All frame_id are set to base_footprint.
Other suggestions?

[mtal]

Can you share your rtabmap launch file?

[Adam_lahoud]

This is my launch file
my_robot_slam_launch

[matlabbe]

Maybe the offset is coming from T265 odometry height.