Re: RTAB-MAP with external Odometry

Posted by tango_explorer on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-MAP-with-external-Odometry-tp1839p1880.html

Hi,

I think I fixed this. The problem was that I was sending the odometry data in the wrong frame. This resulted in conflicting transformations I believe. I simply moved the odometry data to a different frame and then published the tf between my new frame and camera link. It seems to work now, howbeit a little bit slowly.