Re: Odometry/SLAM with external IMU

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Odometry-SLAM-with-external-IMU-tp9475p9485.html

You can just remap the right topic to rtabmap/odometry node.

You have to make sure that the orientation (TF) between the frame of the camera and the one of the imu is correctly calibrated. I think you can use Kalibr to find the transform between them. Otherwise you may compare the imu of the oak against the xsense to find their relative orientation.