zed camera frame won't rotate to map

Posted by bbeckvold on
URL: http://official-rtab-map-forum.206.s1.nabble.com/zed-camera-frame-won-t-rotate-to-map-tp2712.html

I have been battling this for a couple days and i don't know why this isn't lining up.

I am using the zed camera and trying to make a map on the same frame. The camera matched the odom frame, which makes sense beacuse i'm using the zed odom, however rtabmap is trying to make a map from a frame that has been rotated above (optical rotate?). I have tried adjusting the zed_tf.launch file to link the camera frame to the map frame that rtabmap published the proj_map on. I think this shouldn't be this tricky but what would i need to rotate to get them to line up? Any help with this would be greatly appreciated. Thanks.

I have included the relevant launch files.

demo_turtlebot_mapping.launch
test_zed.launch
zed_tf.launch