Re: Sending goals programmatically: frame transform issue

Posted by felipeduque on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Sending-goals-programmatically-frame-transform-issue-tp6484p6491.html

I found a workaround to make things work. I forced "currentMetricGoal_" to become a 3 DoF transform (XY location, and rotation around Z axis). Working perfectly now. However, the real issue is: why has the node been created with such an impossible pose (involving rotation along X and/or Y axes)?