Re: rtabmap_ros produce cloud_map error

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-produce-cloud-map-error-tp1615p1617.html

Hi,

if you are on a robot, make sure your TF is correct and that **frame_id** parameter corresponds on a frame on the floor (e.g., base_footprint), so that point clouds are transformed correctly. If you are doing hand-held scanning, the camera is always started at the origin of the map, so the ground will not be on the virtual grid. You can try "Odom/AlignWithGround" parameter to initialize the camera pose accordingly to the floor, so the ground is aligned with the virtual grid.