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If you're following the tutorial then you'll be using: roslaunch vslam_system stereo_vslam.launch

If you look at the stereo_vslam.launch file, it has:

<node name="stereo_vslam_node"...

This is launching the binary compiled from the source vslam_system/src/nodes/stereo_vslam_node.cpp. If you check that file, you'll see that it only subscribes to these topics:

// Synchronize inputs
l_image_sub_.subscribe(it_, "left/image_rect", 1);
l_info_sub_ .subscribe(nh_, "left/camera_info", 1);
r_image_sub_.subscribe(it_, "right/image_rect", 1);
r_info_sub_ .subscribe(nh_, "right/camera_info", 1);
sync_.connectInput(l_image_sub_, l_info_sub_, r_image_sub_, r_info_sub_);

So to answer your question, there's no tf inputs needed. It does however broadcast odometry data as tf's in a fixed frame called pgraph.

If you're following the tutorial then you'll be using: roslaunch vslam_system stereo_vslam.launch

If you look at the stereo_vslam.launch file, it has:

<node name="stereo_vslam_node"...

This is launching the binary compiled from the source vslam_system/src/nodes/stereo_vslam_node.cpp. If you check that file, you'll see that it only subscribes to these topics:

// Synchronize inputs
l_image_sub_.subscribe(it_, "left/image_rect", 1);
l_info_sub_ .subscribe(nh_, "left/camera_info", 1);
r_image_sub_.subscribe(it_, "right/image_rect", 1);
r_info_sub_ .subscribe(nh_, "right/camera_info", 1);
sync_.connectInput(l_image_sub_, l_info_sub_, r_image_sub_, r_info_sub_);

So to answer your question, there's no tf inputs needed. It does however You may be able to get it to broadcast odometry data as tf's in a fixed frame called if you provide the pgraphbase_footprint transform. However that code (in the latest svn) is disabled with an if (0).