Re: Using Rtabmap with KinectV2 and iai_kinect2_bridge

Posted by Ross_L on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Rtabmap-with-KinectV2-and-iai-kinect2-bridge-tp5289p5290.html

Small update, I found the following snippet in another thread here posted by Matthieu, which seems to have worked!

   <arg name="pi/2" value="1.5707963267948966"/>
   <arg name="optical_rotate" value="0 0 0 -$(arg pi/2) 0 -$(arg pi/2)" />
   <node pkg="tf" type="static_transform_publisher" name="kinect2_base_link"
   args="$(arg optical_rotate) shelf1_kinect2_rgb_optical_frame kinect2_link 100" /> 

Thanks again Matthieu, I owe you many beers :)