Re: How to obtain corrected Odometry to display in rviz?
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-obtain-corrected-Odometry-to-display-in-rviz-tp4989p5019.html
I checked again on my system and I did reproduced the problem. In latest zed_ros_wrapper version, they do also localization when odometry is used, causing a /map -> /odom frame also published by zed wrapper along the /odom -> zed_camera_center. There is no way to disable this by parameters and use only odometry. We have to comment this line in zed wrapper to avoid publishing /map -> /odom when we do the example "B) With zed odometry" on this tutorial. I updated the wiki for this issue. You should have afterward this TF tree instead:
The example "A) With rtabmap odometry" should work as expected. rtabmap will publish /map -> /odom and rgbd_odometry will publish /odom->/zed_camera_center.
cheers,
Mathieu
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-obtain-corrected-Odometry-to-display-in-rviz-tp4989p5019.html
I checked again on my system and I did reproduced the problem. In latest zed_ros_wrapper version, they do also localization when odometry is used, causing a /map -> /odom frame also published by zed wrapper along the /odom -> zed_camera_center. There is no way to disable this by parameters and use only odometry. We have to comment this line in zed wrapper to avoid publishing /map -> /odom when we do the example "B) With zed odometry" on this tutorial. I updated the wiki for this issue. You should have afterward this TF tree instead:
The example "A) With rtabmap odometry" should work as expected. rtabmap will publish /map -> /odom and rgbd_odometry will publish /odom->/zed_camera_center.
cheers,
Mathieu
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