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Google Cartographer TF

asked 2018-09-11 03:17:54 -0500

S.Yildiz gravatar image

I'm reading the documentation and I'm unsure how to make the TF. Am I understanding this right? "Note that Cartographer’s ROS integration uses tf2, thus all frame IDs are expected to contain only a frame name (lower-case with underscores) and no prefix or slashes. See REP 105 for commonly used coordinate frames." That I have to implement tf2 or is the cartographer built with tf2? The link: https://google-cartographer-ros.readt...

I have a 3d RGB camera and I did it like this: http://wiki.ros.org/navigation/Tutori...

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Is this just a general question or are you running into some problems/errors?

Choco93 gravatar imageChoco93 ( 2018-09-11 04:36:37 -0500 )edit

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answered 2018-09-12 02:15:10 -0500

ashwath1993 gravatar image

Cartographer uses TF2. The idea is that now the frame name should follow the new naming convention.

i.e frame_id = "odom" (this is tf2 standard)

instead of

frame_id = "/odom" (this is tf)

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Asked: 2018-09-11 03:17:54 -0500

Seen: 169 times

Last updated: Sep 12 '18