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 | 1 | initial version |
You should set publish_tf parameter of rgbd_odometry node to false.
<node package="rtabmap_ros" type="rgbd_odometry" name="rgbd_odomerty">
<param name="publish_tf" type="bool" value="false"/>
...
</node>
Odometry topic is mandatory for rtabmap, not for rtabmapviz. The odometry topic is not used by rtabmap only if odom_frame_id parameter is set:
~odom_frame_id (string, default: "")
The frame attached to odometry. If empty, rtabmap will subscribe to odom topic to get odometry. If set, odometry is got from tf (in this case, a covariance of 1 is used).
cheers
| | 2 | No.2 Revision |
You should set publish_tf parameter of rgbd_odometry node to false.
<node package="rtabmap_ros" type="rgbd_odometry" name="rgbd_odomerty">
<param name="publish_tf" type="bool" value="false"/>
...
</node>
Odometry topic is mandatory for rtabmap, not for rtabmapviz. The odometry topic is not used by rtabmap only if odom_frame_id parameter is set:
~odom_frame_id (string, default: "")
The frame attached to odometry. If empty, rtabmap will subscribe to odom topic to get odometry. If set, odometry is got from tf (in this case, a covariance of 1 is used).
cheers
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