Re: Is this the way to use lidar & IMU efficiently?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Is-this-the-way-to-use-lidar-IMU-efficiently-tp7496p8131.html

Without recording a new bag, you can republish the static TF yourself, like

rosrun tf static_transform_publisher 0 0 -0.03618 0 0 1 0 os1_sensor_base os1_sensor 100

  Ignoring the IMU, you could adjust the frame_id used by rtabmap to one of the lidar topic. However, to use IMU, you would have to have a tf linking the lidar and imu.