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-tp3556p3582.html

Hi Seb,

The issue is that the registered depth topic's frame is wrong, it should be "camera_rgb_optical_frame" instead of "camera_depth_optical_frame", assuming that depth image is registered on RGB camera.

Without changing camera driver, you could just add a static transform between the rgb and depth frame:

$ rosrun tf static_transform_publisher 0 0 0 0 0 0 camera_rgb_optical_frame camera_depth_optical_frame 100

cheers,
Mathieu