Re: Multiple transformations to odom

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Multiple-transformations-to-odom-tp213p216.html

Hi,

The best is to make a node to convert geometry_msgs/PoseWithCovarianceStamped to nav_msgs/Odometry. You only have to copy the "header" and the "pose". The "child_frame_id"  and "twist" are not used by rtabmap node. The pose's covariance published by robot_pose_ekf should not grow without bounds: if you are not sure, set covariance to null.

Note that with latest code on GitHub, rtabmap node could also be set to use TF instead of nav_msgs/Odometry by setting parameter "odom_frame_id".

Regards,
Mathieu