Re: Slam using Intel RealSense tracking camera - T265

Posted by aravindSolteq on Oct 08, 2021; 9:32am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Slam-using-Intel-RealSense-tracking-camera-T265-tp6333p8628.html

Hi. The imu from realsesnse (camera/imu) is in camera_imu_optical_frame. which the imu_filter_madgwick will use. The ouput of /rtabmap/imu will also be in same frame.

When rtabmap subscribes to this imu topic, it doesn't do the necessary transformation. The output of rtabmap odom is inverted . Cany you please let me know what change has to be done for this?