Re: RTAB-Map with only scan and IMU odometry

Posted by esutton on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-with-only-scan-and-IMU-odometry-tp6592p6613.html





$ rostopic echo /tf_static
WARNING: no messages received and simulated time is active.
Is /clock being published?
transforms:
  -
    header:
      seq: 0
      stamp:
        secs: 1584814372
        nsecs: 227364584
      frame_id: "/base_link"
    child_frame_id: "/base_imu_link"
    transform:
      translation:
        x: 0.245
        y: 0.0
        z: 0.117
      rotation:
        x: 0.707106781187
        y: 0.707106781187
        z: 0.0
        w: 0.0
---
transforms:
  -
    header:
      seq: 0
      stamp:
        secs: 1584814372
        nsecs: 247168926
      frame_id: "/base_link"
    child_frame_id: "/laser"
    transform:
      translation:
        x: 0.285
        y: 0.0
        z: 0.127
      rotation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
---
transforms:
  -
    header:
      seq: 0
      stamp:
        secs: 1584814372
        nsecs: 297804879
      frame_id: "/base_link"
    child_frame_id: "/base_footprint"
    transform:
      translation:
        x: 0.0
        y: 0.0
        z: 0.0
      rotation:
        x: 0.0
        y: 0.0
        z: 0.0
        w: 1.0
---