Re: mapping with kinect v2 + laser scan

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/mapping-with-kinect-v2-laser-scan-tp6367p6415.html

Hi,

What is the frame_id in the header of rgb/depth images? If it is /kinect2_link, you may want to put an optical transformation in this transform:

<node pkg="tf" type="static_transform_publisher" name="kinect2_2_base_link" 
    args="0.0 0.0 0.0 -1.5707963267948966 0.0 -1.5707963267948966 /base_footprint /kinect2_link 100" />

cheers,
Mathieu