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Hi !

I'm not sure this can help but I'm using RTABMap to build a map and for that, I have to launch hector_map thanks to this modified launch file, so that hector_mapping provides the odometry needed by RTABMap, and my first test indicated it was working (odometry showed nicely in RVIZ, and behaved as expected).

During the test, I got the following tf tree thanks to view_frames:

Here is the command line RTABMap log, which includes hector_mapping messages.

Hope this helped you !

Hi !

I'm not sure this can help but I'm using RTABMap to build a map and for that, I have to launch hector_map hector_mapping thanks to this modified launch file, so that hector_mapping provides the odometry odometry needed by RTABMap, and my first test indicated it was working (odometry showed nicely in RVIZ, and behaved as expected).

During the test, I got the following tf tree thanks to view_frames:

Here is the command line RTABMap log, which includes hector_mapping messages.

Hope this helped you !

Hi !

I'm not sure this can help but I'm using RTABMap to build a map and for in order to do that, I have to launch hector_mapping thanks to this modified launch file, so that hector_mapping provides the odometry needed by RTABMap, and my first test indicated it was working (odometry showed nicely in RVIZ, and behaved as expected).

During the test, I got the following tf tree thanks to

view_frames

Here is the command line RTABMap log, which includes hector_mapping messages.

Hope this helped you !

Hi !

I'm not sure this can help but I'm using RTABMap to build a map and in order to do that, I have to launch hector_mapping thanks to this modified launch file, so that hector_mapping provides the odometry needed by RTABMap, and my first test indicated it was working (odometry showed nicely in RVIZ, and behaved as expected).

During the test, I got the following tf tree thanks to

view_frames

Here is the command line RTABMap log, which includes hector_mapping messages.

The rtabmap tutorial I used to set this up is here if you want to check the source of the launch file.

Hope this helped you !

Hi !

I'm not sure this can help but I'm using RTABMap to build a map and in order to do that, I have to launch hector_mapping thanks to this modified launch file, so that hector_mapping provides the odometry needed by RTABMap, and my first test indicated it was working (odometry showed nicely in RVIZ, and behaved as expected).

During the test, I got the following tf tree thanks to

view_frames

Here is the command line RTABMap log, which includes hector_mapping messages.

The rtabmap tutorial I used to set this up is here if you want to check the source of the launch file.

The use of hector_mapping to generate odometry in order to obtain a map thanks to RTABMap is also discussed here and here on RTABMap dedicated forum.

Hope this helped you !

Hi !

I'm not sure this can help but I'm using RTABMap to build a map and in order to do that, I have to launch hector_mapping thanks to this modified launch file, so that hector_mapping provides the odometry needed by RTABMap, and my first test indicated it was working (odometry showed nicely in RVIZ, and behaved as expected).

During the test, I got the following tf tree thanks to

view_frames

Here is the command line RTABMap log, which includes hector_mapping messages.

The rtabmap tutorial I used to set this up is here if you want to check the source of the launch file.

The use of hector_mapping to generate odometry in order to obtain a map thanks to RTABMap is also discussed here and here on RTABMap dedicated forum.forum (posts on how to adapt the launch file).

Hope this helped you !