How to obtain corrected Odometry to display in rviz?
Posted by ArkadiuszN on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-obtain-corrected-Odometry-to-display-in-rviz-tp4989.html
I am using ZED camera with rtabmap_ros and try to utilize loop closure to correct odometry that the camera is generating.
I know that I can plot MapGraph topic in rviz but is there a way to transform \zed\odom topic so it looks like the odom displayed in the RTAB-Map GUI?
If I am correct the rtabmap reposts the /map -> /odom tf but my example rosbag's odometry looks exactly the same with and without rtabmap turned on. /rtabmap/mapGraph looks good though (corrected).
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-obtain-corrected-Odometry-to-display-in-rviz-tp4989.html
I am using ZED camera with rtabmap_ros and try to utilize loop closure to correct odometry that the camera is generating.
I know that I can plot MapGraph topic in rviz but is there a way to transform \zed\odom topic so it looks like the odom displayed in the RTAB-Map GUI?
If I am correct the rtabmap reposts the /map -> /odom tf but my example rosbag's odometry looks exactly the same with and without rtabmap turned on. /rtabmap/mapGraph looks good though (corrected).
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