Re: Error when run rtabmap_ros on Nao robot

Posted by Robin-Wu on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-when-run-rtabmap-ros-on-Nao-robot-tp5110p5119.html

Hi,
Thank you for all your assistance.
This is my launch file:

 <launch>
 
  <node pkg="tf" type="static_transform_publisher" name="kinect_to_base_link"
       args="$0 0 0.2 0 0 0  /base_link /camera_link 100" > 
  </node>

 
  <include file="$(find openni_launch)/launch/openni.launch">
    <arg name="depth_registration" value="true"/>
  </include>
 
 
  <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
    <arg name="rtabmap_args"      value="--delete_db_on_start"/>
    <arg name="frame_id"          value="/base_link"/>
    <arg name="rtabmapviz"        value="true"/>
    <arg name="visual_odometry"   value="false"/>
    <arg name="odom_topic"        value="/odom"/>
   
   
   
  </include>
 
</launch>

from this file ,my odom_topic is /odom,and the graph is better than before,but  the map will swaying from side to side  and move when my robot is moveing(perhaps is because my robot's odom is sway when moving)




So ,Can you give me some suggestions?
Yours
Sincerely