Ask Your Question
1

rgbdslam provides transform from /map to /camera_link... what happens in localization?

asked 2014-07-03 08:39:24 -0500

xuningy gravatar image

I am looking at the frames that tf is providing. In rgbdslam, it is shown that /camera_link -> /map, which is ambiguous. I understand that /map is what octomap_server is listening on. However, I have another node up and running that contains the transform /map -> /odom -> /base_link -> /camera_link , which is the suggested transform given by REP105. How do I reconcile the differences? or are these are conflicting transforms that I should run separately (I.e. obtain octomap via rgbdslam first)?

Sidenote: I see that rgbdslam's fixed frame is /map. Is there a switcheroo that I can change to so that the differences are reconciled?

Thanks!

edit retag flag offensive close merge delete

2 Answers

Sort by ยป oldest newest most voted
0

answered 2014-08-08 11:23:07 -0500

The estimates of the different transformation from /map to /camera_link belong to different systems (RGBDSLAM and something else). Therefore I suggest using a different name for RGBDSLAM's /map frame. You can change the name by setting the parameter "config/fixed_frame_name" in RGBDSLAM's launch file.

There are ways to combine the two estimates, but to make it sound, you would need the uncertainty (covariance) for the respective transformations, which are not provided (at least RGBDSLAM doesn't do that). Otherwise you could just interpolate them with manually tuned weights.

edit flag offensive delete link more
0

answered 2014-08-11 11:42:31 -0500

paulbovbel gravatar image

What other node is providing a map transform?

If you want to merge and filter different info sources for localization, you can use robot_localization, however that won't work with RGBDSLAM's mapping component.

edit flag offensive delete link more

Your Answer

Please start posting anonymously - your entry will be published after you log in or create a new account.

Add Answer

Question Tools

1 follower

Stats

Asked: 2014-07-03 08:39:24 -0500

Seen: 533 times

Last updated: Aug 11 '14