Re: MapGraph erroneous values

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/MapGraph-erroneous-values-tp4179p4200.html

Hi,

In localization mode, the graph will not change. You may not use /rtabmap/MapGraph to know current position of the robot, but TF instead. Get TF between /map and /base_footprint for example to know current position of the robot in /map frame. Use /odom -> /base_footprint to know its position in /odom frame.

$ rostopic tf tf_echo map base_footprint

cheers,
Mathieu