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Hi,
if you are using only visual odometry, I suggest to use the node directly than using rtabmap.launch:
<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry" output="screen">
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="frame_id" type="string" value="camera_link"/>
<param name="publish_tf" type="bool" value="false"/>
</node>
With publish_tf
set to false, TF will not be published.
cheers,
Mathieu