Re: Velodyne with ROS2 launch file

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Velodyne-with-ROS2-launch-file-tp9313p9352.html

Can you show the TF tree?

icp_odometry provides an odom topic that could be consumed by robot_localization. Set publish_tf to false for icp_odometry to avoid publishing odom->base_link TF by two nodes. Feed odometry output from robot_localization to rtabmap node.

cheers,
Mathieu