Re: Remote mapping Kinect2
Posted by
suk1 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Remote-mapping-Kinect2-tp2980p3011.html
Hi Simon,
I don't know if rtabmap shows any errors or warnings when you run it, but if it does show a odometry warning about transforms, you might need to add a transform to camera_link or change the frame_id. In a launch file you could do something like this:
<arg name="pi/2" value="1.5707963267948966"/>
<arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
<node pkg="tf" type="static_transform_publisher" name="kinect2_base_link"
args="$(arg optical_rotate) camera_link kinect2_link 100" />
or you can run:
rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 camera_link kinect2_link 100
From the tutorial:
http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMappingCheers