Re: Mapping performance and hallway problems with Kinect 2

Posted by Wezza on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-performance-and-hallway-problems-with-Kinect-2-tp3956p4105.html

Hi and happy new year Mathieu!

I have a question regarding the visualization of the robot in RVIZ. I've build a simple URDF model from my robot and i want this model to move in my map in RVIZ (like the kinect v2 coordinate systems) as soon as my robot moves in real world and builds the map. My fixed frame in RVIZ is "map". But how can i transform from map to base_link? Is this even the right approach? Should I add a static_transform_publisher to my rtabmap launchfile? I don't have any idea at the moment how I could solve my problem.

If you need more information, like URDF File, rtabmap launch File, rviz launch file... please let me know.

Best regards

Wezza