odom_sensor_sync

Posted by AD on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odom-sensor-sync-tp10116.html

hi,

I was trying to get odomSync working here, after reading the code, I think there might be a problem with the calculation of localTransform: https://github.com/introlab/rtabmap_ros/blob/master/rtabmap_conversions/src/MsgConversion.cpp#L2196

According to the code above, in ROS convension, we got:
localTransform = camlink@imageStamp -> baselink@imageStamp; // according to this
sensorT = baselink@odomStamp -> baselink@imageStamp; // according to this

I understand that we are using rtabmap convensions while doing the final calculation, but it seems the two getTransform functions above does not match each other.
It seems to me we need to switch the odomStamp and stamp here.
Can you help with this?

thanks.