Re: Mapping performance and hallway problems with Kinect 2

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-performance-and-hallway-problems-with-Kinect-2-tp3956p4111.html

Hi,

you should make the kinect frame the child of your robot frame, then use the robot base frame instead of the kinect for rtabmap's frame_id parameter. Not sure what is your current setup, but if visual odometry is still used, you should have a TF tree similar to /map -> /odom ->/base_link -> /kinect2_link... where /map -> /odom transform is published by rtabmap, /odom->/base_link would be published by rgbd_odometry and /base_link -> /kinect2_link by your URDF. Well, /base_link is the standard frame name for the base frame of the robot, it could be also /base_footprint on some other robots. In this case, rtabmap's frame_id should be "base_link" or "base_footprint" (should be the frame of the root of the URDF).

cheers,
Mathieu