Re: Multiple transformations to odom

Posted by RicardoO on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Multiple-transformations-to-odom-tp213p215.html

Hi,

Thank you for your prompt reply.

I have checked the topics in the bag and yes, it has nav_msg/Odometry messages. The odometry messages come from the wheel controllers (base_odometry/odom) not from the robot_pose_ekf node. The EKF node only publishes the  robot_pose_ekf/odom_combined  topic which is of type geometry_msgs/PoseWithCovarianceStamped .

As you said, rtabmap subscribes to a topic of type nav_msg/Odometry, so I am subscribing to base_odometry/odom, the only one I have.

In the launch file I have set:

<remap from="odom" to="/base_odometry/odom">

But still I have the issue with the divided trees in the tf structure.

I also checked the topic's header and it has frame_id=odom because it comes from the base odometry controller and not from the EKF node. I have checked the documentation of the robot_pose_ekf and it does not publish any topic of type nav_msg/Odometry. However, the only transformation between odometry data and the base_footprint is published by robot_pose_ekf  (odom_combined -> base_footprint).

If I change the frame_id from the /base_odometry/odom topic to "odom_combined" will it be consistent with the topic I'm telling rtabmap to subscribe to (/base_odometry/odom)?

Cheers,