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How to change map origin of rtabmap?

asked 2018-07-02 04:17:02 -0500

tilt gravatar image

Hi.

I'm using rtabmap and rtabmap_ros as localization mode to recognize robot's global pose. To make my map simplify, I want to change map origin from pose which odometry started to desired pose. Is there any way to do this?

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answered 2018-07-06 15:31:40 -0500

matlabbe gravatar image

You could add a static_transform_publisher to add a transform prior to /map in TF tree. For example, if you want to change map origin from 5 meters, you may publish /world -> /map with such transform.

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Asked: 2018-07-02 04:17:02 -0500

Seen: 76 times

Last updated: Jul 06 '18