Re: RTABMap Error .launch

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMap-Error-launch-tp4501p4516.html

Hi,

thanks to provide as much information. There are a couple of problems:
1) The TF tree should be a single tree. /base_footprint -> ... -> /camera_link should be linked. The standard would be:

/map -> /odom -> /base_footprint -> /base_link -> /camera_link
                                               \
                                                \---> /imu_link
                                                 \
                                                  \---> /scan_link

Add some static_transform_publisher for missing links after /base_footprint if turtlebot default launch files don't give them.

2) Launch rtabmap.launch with visual_odometry:=false and odom_topic:="/odom" (well the odometry topic provided by turtlebot)

3) To use laser scan, like you did, set subscribe_scan:=true and set scan_topic:="/scan" (the name of the scan topic)

4) For 2d mapping with laser scan, I suggest to set rtabmap_args:="--delete_db_from_start --Reg/Force3DoF true --Reg/Strategy 1"

cheers,
Mathieu