Re: RTAB-Map Navigation with UAV

Posted by JarrenB on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-Navigation-with-UAV-tp9375p9385.html

Hi,
I started on this implementation and I'm working on it now. I have decided to use RTABMAP for pose data, Octomap to map the area and MoveIt for 3d path planning. I want to use VIO with rtabmapo but I am getting TF tree errors. As soon as I change to VIO true the tf tree connects to odom and not to world. How can I set up RTABMAP so that all TF trees are connected.  I belive something like this.

 robot frames<-World<- Map ->odom

Thanks for any guidance.