Re: RTAB-Map Viz does not display anything

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-Viz-does-not-display-anything-tp651p668.html

Hi,

you can debug your TF tree using:

$ rosrun tf view_frames
$ evince frames.pdf

I common TF tree is : /map -> /odom -> /base_link -> /camera_link -> /camera_rgb_optical_frame:

1. /camera_link -> /camera_rgb_optical_frame is published by openni2
2. /base_link -> /camera_link is published by a static_transform_publisher or a robot_state_publisher. Example:

<node pkg="tf" type="static_transform_publisher" name="base_to_camera" 
    args="0.0 0.0 0.0 0.0 0.0 0.0 /base_link /camera_link 100" />

3. /odom -> /base_link is published by your odometry node
4. /map -> /odom is published by rtabmap

cheers