Re: How to improve mapping accuracy based on ArUco identification code?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-improve-mapping-accuracy-based-on-ArUco-identification-code-tp8393p9276.html

You could try to check if the tag callback is called by adding a ROS_WARN in https://github.com/introlab/rtabmap_ros/blob/507df071e09fd52abbd6a31474a4d9a2bd1035ee/src/CoreWrapper.cpp#L2317

The TF is not always published, only on detections, so it is normal that tf_echo would fail when the tag is not detected.