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What happens if you turn off linear acceleration? Also, I would turn of roll, pitch, and yaw for pose0.

What happens if you turn off linear acceleration? Also, I would turn of roll, pitch, and yaw for pose0.

<node pkg="tf2_ros" type="static_transform_publisher" name="odom_cam" args="0 0 0 0 0 0 odom usb_cam" />

What happens if you turn off linear acceleration? Also, I would turn of roll, pitch, and yaw for pose0.

EDIT:

Run PTAM without anything else running (not even ekf_localization_node). Try running the tf tf_monitor or simply view_frames. Now run your transform launch file and do those actions again. Make sure your frames exist and are connected.

One thing you might want to do regardless is use the tf2_ros static_transform_publisher. The parameters are very similar:

<node pkg="tf2_ros" type="static_transform_publisher" name="odom_cam" args="0 0 0 0 0 0 odom usb_cam" />

What happens if you turn off linear acceleration? Also, I would turn of roll, pitch, and yaw for pose0.

EDIT:

Run PTAM without anything else running (not even ekf_localization_node). Try running the tf tf_monitor or simply view_frames. Now run your transform launch file and do those actions again. Make sure your frames exist and are connected.

One thing you might want to do regardless is use the tf2_ros static_transform_publisher. The parameters are very similar:

<node pkg="tf2_ros" type="static_transform_publisher" name="odom_cam" args="0 0 0 0 0 0 odom usb_cam" />

Note that you no longer specify the period at the end.

What happens if you turn off linear acceleration? Also, I would turn of roll, pitch, and yaw for pose0.

EDIT:

Run PTAM without anything else running (not even ekf_localization_node). Try running the tf tf_monitor or simply view_frames. Now run your transform launch file and do those actions again. Make sure your frames exist and are connected.

One thing you might want to do regardless is use the tf2_ros static_transform_publisher. The parameters are very similar:

<node pkg="tf2_ros" type="static_transform_publisher" name="odom_cam" args="0 0 0 0 0 0 odom usb_cam" />

Note that you no longer specify the period at the end.

EDIT 2: 2

You have a tf reparenting problem. Something else is publishing a world->usb_cam transform. You are publishing an odom->usb_cam transform. No frame can have two parents (it's a tree structure). You should make your static transform go from odom->world instead of odom->usb_cam.