Re: which part of the code odom frame concept is written?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/which-part-of-the-code-odom-frame-concept-is-written-tp5209p5216.html

Hi,

In ORB_SLAM2 original package, I think it publishes the pose directly in /map frame (/map -> /base_link), there is no /odom frame. In rtabmap, we follow the convention of REP105. /odom -> /base_link represents the pose computed by a frame-to-frame visual odometry for example. /map -> /odom represents the correction of odometry pose when a loop closure is detected and closed. To get the actual pose in the map frame, we should get /map -> /odom -> /base_link from TF.

For the code, /odom -> /base_link TF is published here. /map -> /odom is published here.

cheers,
Mathieu