Re: Lidar SLAM with loop closure

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lidar-SLAM-with-loop-closure-tp7846p8123.html

Hi,

In the rqt_graph, you can hide /tf topics, which are linked to almost every nodes. Not sure if the second frame you are seeing is a tag. It could be the origin frame. The rosnode info was just to see to which tag topics rtabmap is subscribing to "/rtabmap/tag_detections". You can do also "rosnode info /apriltag_ros_continuous_node" to see the topic name, then remap if needed to connect the two nodes (which should be seen in rqt_graph).