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Hi Karan, this is not a way to incorporate odometry into rgbdslam. This way, you may get a transformation between odom_combined and the map, but the transformation from odometry will just be "subtracted" from the found transformation.

The bad news is, that rgbdslam currently doesn't really support odometry (there are only some experimental hacks). I think someone has merged the output from rgbdslam and odometry in a filter, but I don't know with what success, though.

If you need the transformation online, you can uncomment line 88 of graph_manager.cpp:

  //timer_ = nh.createTimer(ros::Duration(0.1), &GraphManager::broadcastTransform, this);

This will repeatedly send the latest transform (which, however, should be send out every time a new frame was processed anyway).

Hi Karan, this is not a way to incorporate odometry into rgbdslam. This way, you may get a transformation between odom_combined and the map, but the transformation from odometry will just be "subtracted" from the found transformation.

The bad news is, that rgbdslam currently doesn't really support odometry (there are only some experimental hacks). I think someone has merged the output from rgbdslam and odometry in a filter, but I don't know with what success, though.

If you need Edit: Rgbdslam now repeatedly sends the transformation online, you can uncomment line 88 of graph_manager.cpp:latest tf transform between the frames given in parameters base_frame_name and fixed_frame_name at 10 Hz.

  //timer_ = nh.createTimer(ros::Duration(0.1), &GraphManager::broadcastTransform, this);