Re: Difficulty when using external odometry

Posted by slam on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Difficulty-when-using-external-odometry-tp4347p4380.html

I edited the realsense source code (base_nodelet.cpp) and made it to always publish everything with timestamp=ros::Time::now(). (Maybe there is another way to fixed this?)
And set the bold parameters:
$ rosrun rtabmap_ros pointcloud_to_depthimage cloud:=/camera/depth/points camera_info:=/camera/rgb/camera_info image_raw:=/camera/depth/points/image_raw image:=/camera/depth/points/image _approx:=true _fill_holes_size:=2 _fixed_frame_id:="odom"

Now the mapping looks much better.