Visual Odometry error in rotation

Posted by Ashu on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Visual-Odometry-error-in-rotation-tp2975.html

Hi

I am performing Experiments on Visual Odometry using rtabmap_ros package but I am not getting correct values as expected while experiment.
Firstly when i rotate the robot in place, I am getting certain values along x and y direction.
Ex : pose:
    position:
      x: -0.0511606894433
      y: 0.0540189929307
      z: 0.0
    orientation:
      x: 0.0
      y: 0.0
      z: -0.702741882159
      w: 0.711445441593

As since i have performed in place rotation, I should get any values in x and y direction . Please can you help me what is going wrong. Here is my simple launch file visual_odometry_rtabmap.launch