Attention: Answers.ros.org is deprecated as of August the 11th, 2023. Please visit robotics.stackexchange.com to ask a new question. This site will remain online in read-only mode during the transition and into the foreseeable future. Selected questions and answers have been migrated, and redirects have been put in place to direct users to the corresponding questions on Robotics Stack Exchange. Additional details are available here.

Revision history [back]

Hi,

rtabmap_ros requires odometry to work. The odometry can come from the robot (wheel odometry) or any other sources like visual odometry. rtabmap_ros has a rgbd_odometry node that can be used to generate visual odometry for convenience. You will have to disable odometry from your robot (at least the TF) if you use another source of odometry.

cheers

ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.