Re: Get velocity in map frame

Posted by olofmat on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Get-velocity-in-map-frame-tp9608p9629.html

Hi,

after a while we managed to solve it! The issue was not how we were making the transformation but the frames. It seems as if the twist message in /rtabmap/odom is actually in the "camera_link" frame and not the "odom" frame. When making the transformation between "camera_link" and "map" instead the result is great!

Olof