Re: How to use a bag of pointclouds with no tf topic included?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-use-a-bag-of-pointclouds-with-no-tf-topic-included-tp7525p7527.html

Hi,

tf_static from a rosbag is not latched. It means that you should make sure to start rtabmap before starting the rosbag so that rtabmap can catch the tf_static topic (published only one time a the beginning).

You you want to use T265 odometry, you could indeed feed its odometry topic to rtabmap. Make sure to link in TF the camera and velodyne.

cheers,
Mathieu