Re: rtanmap without publishing map/odom

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtanmap-without-publishing-map-odom-tp4780p4788.html

Hi,

To stop rtabmap to publish map->odom, set publish_tf parameter to false. In hector mapping example here, we disabled map->odom transform of hector mapping instead, as hector mapping was used only for lidar odometry.

The covariance values (coming from /scanmatch_odom topic) seem wrong, x=10, y=12, theta 18000 are quite high. If the covariance cannot be fixed, you can make rtabmap use predefined variances instead, with:

<node package="rtabmap_ros" type="rtabmap" name="rtabmap">
   ...
   <param name="odom_frame_id" type="string" value="odom"/>
   <param name="odom_tf_angular_variance" type="double" value="0.001"/>
   <param name="odom_tf_linear_variance" type="double" value="0.001"/>
</node>

cheers,
Mathieu