Re: occupancy grid from t265

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/occupancy-grid-from-t265-tp9374p9389.html

Hi David,

It could be similar to T265+D400 camera example here: https://github.com/IntelRealSense/realsense-ros/blob/ros1-legacy/realsense2_camera/launch/rs_rtabmap.launch

You need to publish a static transform between T265 and the kinect. Use frame of T265 as base frame and its odom sample topic as odometry. Use RGB+Depth topics from the other camera.

cheers,
Mathieu