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RTABMap: TF setting between lidar and the tilt D435+T265

asked 2020-12-16 02:58:54 -0500

bill4u gravatar image

The sensors driver launch file is: roslaunch realsense2_camera rs_d400_and_t265.launch

The tutorials page is :http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping

My question is : In order to run the following command:

roslaunch rtabmap_ros rtabmap.launch args:="-d --Mem/UseOdomGravity true --Optimizer/GravitySigma 0.3" odom_topic:=/t265/odom/sample frame_id:=t265_link rgbd_sync:=true depth_topic:=/d400/aligned_depth_to_color/image_raw rgb_topic:=/d400/color/image_raw camera_info_topic:=/d400/color/camera_info approx_rgbd_sync:=false visual_odometry:=false

How to set the TF between the lidar and the t265_link Any ideas? Thanks.

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matlabbe gravatar image matlabbe  ( 2020-12-25 11:13:48 -0500 )edit

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answered 2020-12-16 02:59:33 -0500

bill4u gravatar image

updated 2020-12-16 19:36:19 -0500

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Asked: 2020-12-16 02:49:42 -0500

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Last updated: Dec 16 '20