Re: Multiple transformations to odom

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Multiple-transformations-to-odom-tp213p214.html

Hi,

You don't have to remove any TF from the PR2 bag. If you are referring to demo_stereo_pr2.launch file, the TF was removed because we were testing visual odometry from stereo (so we wanted to ignore the recorded odometry from EKF).

rtabmap node subscribes to a nav_msg/Odometry topic (in your case it must be a topic from the EKF node, are the Odometry msgs recorded in the bag?). Make sure the frame id inside the recorded odometry messages is correct:

header.frame_id = "odom_combined"

Regarding the TF tree, your would have something like this:

/map -> /odom_combined -> /base_footprint -> base_link ..."

where rtabmap publishes "/map -> /odom_combined" and EKF node publishes (or topics recorded in the bag) "/odom_combined -> /base_footprint".