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-tp3042p3050.html

Hi,

Looking at the Tf tree, you should be able to get transform /base_footprint -> /kinect2_rgb_optical_frame.

You should update your URDF if you want to put /kinect2_base_link between /base_link and /kinect2_link. I assume you have an URDF if you are using a robot_state_publisher.

cheers