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-tp228p519.html

Hi Alex,

rtabmapviz doesn't use TF for the /map -> /odom transform but RVIZ uses it. So if there is a /map -> /odom transform in the bag, RVIZ would be affected when running rtabmap again with the bag. When you are running your rosbag alone, is there /map -> /odom transform published? For example, by doing this:

$ rostopic tf view_frames

you should only see /odom as the root. If there is a /map frame, either
1- you filter the /map frame from the bag (using the filtering method above), or
2- record your bag without rtabmap node, or
3- record your bag with "publish_tf" parameter set to "false" for rtabmap node in the launch file (so /map -> /odom will not be published).

For example, a launch file similar to az3_bag_record.launch was used to record data for the demo_robot_mapping.launch.

cheers