Re: (Bad 3D map) robot_localization sensor fusion imu and odom

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bad-3D-map-robot-localization-sensor-fusion-imu-and-odom-tp5456p5565.html

I am not sure to understand that joint:

<joint name="zed_depth_camera_joint" type="fixed">
<parent link="zed_left_camera"/>
<child link="zed_depth_camera"/>
<origin xyz="0 0 0" rpy="-1.5707963267948966 0 -1.5707963267948966"/>
</joint>

as I would assume that both left and depth image are in the same frame. The TF /camera_link -> /zed_left_camera_optical_frame is coming from the stereo example here, which starts zed launch file with publish_tf:=false. I tried the two other configurations on the RGB-D example page and they should still also work with latest zed ros wrapper.

cheers,
Mathieu