Re: odom frame flickers when playing rtabmap with rosbag

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odom-frame-flickers-when-playing-rtabmap-with-rosbag-tp228p480.html

Hi Alex,

It looks like that /map -> /odom transform is published by more than one node (maybe the rosbag and the rtabmap node). Verify who is publishing /map -> /odom.

When you are recording the rosbag, is rtabmap running? If yes, you are recording /map -> /odom in the /tf messages. The rosbag should not include /map -> /odom transform, otherwise replaying the rosbag with rtabmap will make /map -> /odom published by the rosbag and rtabmap node. For example, in the post you mentioned, rtabmap is not running when recording.

Removing all /map frames in the rosbag:

rosbag filter input.bag output.bag 'topic != "/tf" or topic == "/tf" and m.transforms[0].header.frame_id != "/map"'

cheers