Re: Reference frame of visual odometry

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Reference-frame-of-visual-odometry-tp2681p2751.html

Hi,

You may create a Service Client node that could do something like this:
1- Sleep 5-10 sec at start (to make sure that all nodes are started on roslaunch)
2- Subscribe to TF "/odom -> /base_link_wheel"
3- Call service /rtabmap/reset_odom_to_pose of type rtabmap_ros::ResetPose with the previous transform (to transform TF quaternion to roll/pitch/yaw, see here)

cheers,
Mathieu