Re: ROS - 2D occupancy grid

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/ROS-2D-occupancy-grid-tp1204p1216.html

Hi,

You have to add a TF to rotate the camera in ROS coordinate world (x forward, y left, z up) from camera frame (x right, y down, z forward). Example, assuming camera frame is "camera_link":

<arg name="pi/2" value="1.5707963267948966" />
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="camera_base_link"
        args="$(arg optical_rotate) base_link camera_link 100" /> 

Then if you set frame_id to "base_link" for rgbd_mapping.launch, you will have the point cloud in the right orientation.

Thx for the comment on g2o, I updated the installation instructions.

cheers