Re: odom_local_map coordinate system

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odom-local-map-coordinate-system-tp1851p1865.html

Hi,

/odom_local_map is in /odom frame:

$ rostopic echo /rtabmap/odom_local_map/header/frame_id
odom

To transform point clouds in some frame, see transformPointCloud functions in pcl_ros: http://docs.ros.org/api/pcl_ros/html/namespacepcl__ros.html

Note that /odom_local_map is the odometry local features map, not the actual map of rtabmap. Features of the current frame processed by odometry is in topic /odom_last_frame. When you run the stereo outdoor demo, you can see /odom_last_frame and /odom_local_map shown in RVIZ:

green=current frame, yellow=local map



cheers