Re: ROS Online RTAB-Map in existing C++ Project (no launch file)

Posted by brude on
URL: http://official-rtab-map-forum.206.s1.nabble.com/ROS-Online-RTAB-Map-in-existing-C-Project-no-launch-file-tp2459p2473.html

Hello again,

I followed what you said and now run a launch file through a bash script on a separate process. I finally have it working and have it updating the map. However, I am running into a strange issue.

I am using a ZED camera and updating RTAB-Map using the RGB Image and Depth map (like the RGB-D Mapping with external odometry through tf). When I do this, I get correct tf transforms, but the data from the depth map is being published wrong. If I try and view the projected octomap_cloud, it seems as though the depth map is being published above the robot point where it should be populating in front.

I currently have a tf link that goes from map->odom_data->base_link->camera where there is a static publisher from the base_link->camera and an origin transform from map->odom_data. I populate the odom_data->base_link each iteration with the new tf data.

I've tried to change all of these transformations, but nothing seems to change the fact that the depth image is registering above, instead of in front of the camera.

Any thoughts on why this is happening or how to adjust this?

Thanks for all your help! It's much appreciated!

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UPDATE:

I found my error. I wasn't setting the RGB or D images to the correct frame_id. I've solved this now!