Re: rosbag rtabmap_ros

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rosbag-rtabmap-ros-tp248p249.html

Hello Micke,

Are there status/error messages from rtabmap or rgbd_odometry node? Which TFs are recorded? Note that by default rtabmap and rgbd_odometry "frame_id" ros parameter is set to "base_link". If you used only openni_launch for recording, you may change "frame_id" to "camera_link":

<launch>
(...)
<group ns="rtabmap">
      <node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
            <param name="frame_id" type="string" value="camera_link"/>
            (...)
      </node>
      <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
            <param name="frame_id" type="string" value="camera_link"/>
            (...)
      </node>
</group>
</launch>

Cheers,
Mathieu