Re: Difference in odometry topic of rgbdicp_odometry and final output.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Difference-in-odometry-topic-of-rgbdicp-odometry-and-final-output-tp8014p8021.html

Hi,

I see that you set use_sim_time to true, I assume this was done on a rosbag? Make sure that your bag doesn't have the same TF published than those recomputed here. rgbdicp_odometry has not been updated for a while, and would have to use rgbd_image interface (instead of approximatly synchronized all individuals topics all together).

Is TF odom->odom_guess used somwhere?

For the poses, it could be easier to debug with rtabmap-databaseViewer and look at the neighbor links in Constraints View.