# Revision history [back]

(Here is the copy of my comment above for convenience)

What is the base frame of the platform? You would have to set frame_id of rgbd_mapping_kinect2.launch to this frame, otherwise the map is built against kinect frame, not the base frame.

For example, if the base frame of the robot is base_footprint, the launch above would look like this:

<include file ="\$(find rtabmap_ros)/launch/rgbd_mapping_kinect2.launch">
<arg name ="resolution" value="qhd"/>
<arg name="frame_id" value="base_footprint"/>
</include>


cheers