Re: 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-tp10648p10697.html

You are correct. If I set the global frame to base_link, the lidar point cloud does rotate when I rotate the lidar. This seems to be the issue. I expected the cloud_registered_body topic from fastlio to be given in body (otherwise being base_link). But it seems to rotate with body frame.