Re: odometry data fusion

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odometry-data-fusion-tp1695p1700.html


You can look at this tutorial  and nav_msgs/Odometry description for some info about what odometry fields mean. Odometry's position is in odom frame, while twist is in base_link frame.

Camera frame is z forward, y down and x right. Usually we apply a rotation (-PI/2 0 -PI/2) to put the camera in base_link frame. Odometry is computed in base_link frame so that we have x forward, y left and z up.

See nav_msgs/Odometry for the odometry format.

Orientation units are in rad or rad/s for twists.