Re: Set up robot model with odom from rtabmap

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Set-up-robot-model-with-odom-from-rtabmap-tp3042p3043.html

Hi,

The "base_to_kinect" publisher should be:

<node pkg="tf" type="static_transform_publisher" name="base_to_kinect" 
        args="0 0 0.1 0 0 0 base_link kinect2_base_link 100" />

instead of

<node pkg="tf" type="static_transform_publisher" name="base_to_kinect" 
        args="0 0 0.1 0 0 0 base_link kinect2_link 100" />

to have base_link -> kinect2_base_link -> kinect2_link

Note however that link base_link -> kinect2_link seems published already by a robot_state_publisher (URDF), if so and an optical rotation is required, do it in URDF instead.

cheers,
Mathieu