Re: About rtabmap when using various sensors

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-rtabmap-when-using-various-sensors-tp8808p8852.html


Hi

1) you can set ground_truth_frame_id and ground_truth_base_frame_id parameters (those are TF frames corresponding to ground truth system, typically /world and /tracker, assuming your ground truth system publishes on TF), then you will see in rtabmap both ground truth and slam trajectories, even with live RMSE error between them (a Statistics->Gt panel will appear when rtabmap is receiving ground truth data).

3) If you feed a 2D lidar, look at the first example here:  http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_Odometry_.2B-_2D_laser