Re: Some problems of TF and navigation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Some-problems-of-TF-and-navigation-tp7785p7789.html

Which rtabmap version are you using? For the 90 deg, it may be caused by IMU local transform.

You are using icp_odometry, which is not the config picture you've shown. Look at the simplified launch file in the referred section http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_Odometry_.2B-_2D_laser

To use icp_odometry with robot_pose_ekf as guess, see http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#A2D_laser_.2B-_Wheel_Odometry_as_guess

base_link should be child of base_footprint.

For the arc trajectory, the lidar TF may have an offset (with base_link) that is missing based on reality. Can you share a sample database?