Re: ROS - 2D occupancy grid

Posted by matlabbe on Apr 20, 2016; 1:19pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/ROS-2D-occupancy-grid-tp1204p1227.html

Hi,

The transform is the standard rotation from camera optical frame to ROS world frame. If the RGB and depth doesn't match together, that means they are not registered. Looking at realsense_r200_rgbd.launch, did you try launching with "depth_registration:=true"? In the Limitations section, it seems that hardware registered depth image is not provided. You may try this topic "camera/depth_registered/sw_registered/image_rect_raw" instead for the default depth image.

cheers