Setup Festo robot with Kinect2 for navigation

Posted by marius on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Setup-Festo-robot-with-Kinect2-for-navigation-tp2552.html

Hi,

I`m new at ROS and try to navigate my Robot from company "Festo" with this great software and Microsoft Kinect2 (ONE).
The Robot is called "Robotino" and works with Ubuntu 16.04, ROS Kinetic.

The rtabmap compilation has succesfully finished and i have already tried the Hand-Held tutorial. http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping. It works amazingly!

Now i want to setup my Robot for navigation, but your tutorial (http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot) does not take me any further.

I found the rgbd_mapping_kinect2.launch file.
When i launch it the 3D scans (PointClouds) are visualized but the tranformations of /base_link /odom /kinect2_base_link does not match. When i move my robot around the map will be build and visualized in rviz but the /odom koordinate and some other seems to be fixed with the fixed frame /map.



The kinect2_base_link koordinates are visualized correctly.
I have tried to transform the geometric dependencis of base_link, odom and kinect2 by my self with static_transform_publisher but then the visualisation in rviz started to jitter :D

In the rtabmap_kinect2_launch file is only one TF between Kinect2_base_link and Kinect_link.
My robot has no gripper or some thing else, all is static there is only a odometry.

Can some one help me where/how i can setup up the tranformations between the different frames.

kind regards Marius