my robot model is under the map

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my robot model is under the map

Adam_lahoud
This post was updated on .
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 figurerobot_urdf_model.
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?
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Re: my robot model is under the map

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
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Re: my robot model is under the map

Adam_lahoud
All frame_id are set to base_footprint.
Other suggestions?
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Re: my robot model is under the map

mtal
Can you share your rtabmap launch file?
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Re: my robot model is under the map

Adam_lahoud
This is my launch file
my_robot_slam_launch
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Re: my robot model is under the map

matlabbe
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Maybe the offset is coming from T265 odometry height.