Re: RTABMAP ROS with bag files

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-ROS-with-bag-files-tp3556p3576.html

Hi,

If there is no TF published, you could launch rtabmap.launch like this:

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" frame_id:=camera_rgb_optical_frame

However, the resulting cloud will be in camera frame coordinates, not ROS standard coordinates. To get the map in correct orientation, we should rotate the optical frame of the camera:

$ roslaunch rtabmap_ros rtabmap.launch rtabmap_args:="--delete_db_on_start" frame_id:=base_link
$ rosrun tf static_transform_publisher 0 0 0 -1.5707963267948966 0 -1.5707963267948966 base_link camera_rgb_optical_frame 100

Note that if camera_rgb_optical_frame has already a parent TF, adjust frame names. You can do this to view the actual frames:

$ rosrun tf view_frames
$ evince frames.pdf

cheers,
Mathieu