Re: visual odometry and robot_pose_ekf

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/visual-odometry-and-robot-pose-ekf-tp1000p1001.html

Hi,

To use only the visual odometry node from rtabmap, you can simply use it like this in a launch file (based on topics sent by openni_launch or freenect_launch):

 <node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
        <!-- Inputs -->
  	<remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
        <remap from="rgb/camera_info" to="camera/rgb/camera_info"/>
  	<remap from="depth/image"     to="camera/depth_registered/image_raw"/>

        <!-- Output -->
	<remap from="odom" to="vo"/>
    
        <!-- Fixed frame of the camera (can be also /base_link or /base_footprint) -->
  	<param name="frame_id" type="string" value="camera_link"/>
  </node>

The "vo" input of robot_pose_ekf is a nav_msgs/Odometry type, so yes you can connect directly the ouput of rgbd_odometry (here remapped to "vo" for convenience) to robot_pose_ekf.

cheers,
Mathieu