Re: Autonomous Navigation using RTAB-Map's RGBD Odometry

Posted by Drane on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-using-RTAB-Map-s-RGBD-Odometry-tp6223p6232.html

Thank you very much for answering my question, should I add these parameters from demo_turtlebot_mapping.launch to rgbd_mapping_kinect2.launch

<!-- Fix odom covariance as in simulation the covariance in /odom topic is high (0.1 for linear and 0.05 for angular) -->
          <param unless="$(arg rgbd_odometry)" name="odom_frame_id" value="odom"/>
          <param unless="$(arg rgbd_odometry)" name="odom_tf_linear_variance" value="0.001"/>
          <param unless="$(arg rgbd_odometry)" name="odom_tf_angular_variance" value="0.001"/>