Re: errors with icp_odometry node when using ground_truth_frame_ids

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/errors-with-icp-odometry-node-when-using-ground-truth-frame-ids-tp6291p6298.html

Note that you should use the base_footprint frame as frame_id for odometry/rtabmap. That frame is on the ground with zero Z. The ground truth should be the frame referencing the base_footprint, not the lidar, so it would be Z=0. Here it seems the ground truth doesn't match the right frame.

cheers,
Mathieu