Structure of tf tree.

asked 2021-03-02 08:18:45 -0600

Ifx13 gravatar image

updated 2021-03-02 08:27:20 -0600

Hello everyone.

My setup is the following, I have a vlp-16 lidar and a T265 tracking camera and I need an odometry guess to feed it into rtabmap. I have a bag that contains the nav_msgs/Odometry from the T265 and the pointclouds of the vlp-16. Anyway, I can't get my head around how the tf should be structured in order to get this odometry guess. My initial thoughts would be a tree like this: odom-->base_link, base_link---(static transformation)-->vlp-16, base_link--(nav_msgs/Odometry)----> T265.

But as I was looking more into it I saw that the positional part of the pose in the nav_msg starts around 0 and when the topic comes to end it is much further away so I guess that the pose refers to a "global" coordinate frame and as a result it should not be connected to the base_link as this coordinate frame is on the "robot" and it is not a global one. And this is where I got really confused and I do not know how to proceed.

I feel like I'm missing something and I have no clue what is it and it keeps me from figuring out how the structure of the tf tree should be. Does anyone have any idea of what I should do next?

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Can you show TF tree from the bag? rosrun tf view_frames

matlabbe gravatar image matlabbe  ( 2021-03-02 13:02:06 -0600 )edit

There is no tf topic in the bag, I am thinking to publish one and then to record in a new bag the tf and the data in order to feed the data in rtabmap.

Ifx13 gravatar image Ifx13  ( 2021-03-02 13:25:38 -0600 )edit