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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Autonomous-Navigation-using-RTAB-Map-s-RGBD-Odometry-tp6223p6243.html

Hi,

For your previous post, if you use /rtabmap/odom, you don't need to set odom_frame_id parameter.

In the tf tree, odom -> base_link should not be published by tf_robot. Note also that you don't need to create a node to publish static tf, just launch multiple instances of static_transform_publisher node.

I updated recently the tutorial with a turtlebot3 example. I suggest to take a look to see how navigation should work.

cheers,
Mathieu