Re: Map rotated

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-rotated-tp9040p9065.html

the imu are automatically published by the camera so I can't change them

aren't the camera node open source? One think you should make sure is that at least the gyro/acc data output of the IMU matches the imu frame (if not this would need to modify imu data -> if you cannot modify the ros node publishing the imu, you would have to create a intermediate node to switch gyro/acc parameters so they match the frame). Then if IMU frame is not aligned correctly with the cameras, then it is a staitc tf problem between the camera and imu frames. Can you show the imu frame in RVIZ too (with a rostopic echo at the same time of imu topic)?