Re: Slam using Intel RealSense tracking camera - T265

Posted by aravindSolteq on Oct 11, 2021; 7:15am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Slam-using-Intel-RealSense-tracking-camera-T265-tp6333p8631.html

I think the problem is in stereo_odometry, and not the rtabmap node. We used to have forward(x), left (y) and up(z). But the output /rtabmap/imu has a different mode forward(y) , right (x) and z(up).

I feel this is because of the change in orientation from camera_link and camera_imu_optical_frame.

I did a temporary change with world_frame="nwu" in the imu_filter_madgwick node. And the odometry seems to be proper now . But is this the proper way of doing it.