Re: Setup Festo robot with Kinect2 for navigation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Setup-Festo-robot-with-Kinect2-for-navigation-tp2552p2560.html

Hi,

For the record, the /kinect2_base_link should be linked to /base_link with a static_transform_publisher (or in your urdf if you are using robot state publisher) and set frame_id of rtabmap/rgbd_odometry to /base_link. If you are using odometry from your robot, don't forget to disable visual odometry if you use rtabmap.launch file (e.g., rgbd_odometry should not start), otherwise you will have two odometry publishing on the same frame /odom.

cheers,
Mathieu