Using external odometry with rtabmap slam and aligning to gravity

Posted by dinossht on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-external-odometry-with-rtabmap-slam-and-aligning-to-gravity-tp10648.html

Is it possible to align rtabmap slam map to gravity if external odometry is used? I am using rtabmap_slam node which takes in Odometry topic. The odometry is not aligned with gravity. But I have access to imu data, so can I use this? I tried to set the imu topic  "imu" in rtabmap_slam. But this did not help.