Re: Sending goals programmatically: frame transform issue

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Sending-goals-programmatically-frame-transform-issue-tp6484p6502.html

Difficult to know, but if you set Reg/Force3DoF parameter to true, all poses should be x y theta-only. If not, what is the input odometry, is it 3DoF?

EDIT: Note also that "/map" -> "/xtion_rgb_optical_frame" is not forced to be 3DoF, in particular if the camera is upside down.