Unity Scene not updating nodes' transforms correctly from mapData
I am currently working on a project on mapping a remote environment using a robot and reconstructing it as a Unity scene. To generate the cloud_map, I am sending /rtabmap/mapData over ROS-Sharp and creating a mesh for each node in mapData.nodes. For every mapData message I receive, I update each node's position and rotation by setting the transform of nodes[i]'s mesh = mapData.graph.poses[id]. However, it seems like the nodes are not being positioned correctly in the Unity scene (whereas it seems mostly correct in RViz).
In MapCloudDisplay.cpp, updating the transform of each node's mesh seems more complicated then simply just setting the transform = mapData.graph.poses[id]. Might this be where things went wrong? Also, what is the difference between nodes[id].pose and graph.poses[id]?
I should also note that I did not use any node filtering in the Unity scene (I also disabled node filtering radius and angle in the RViz scene).
Thank you!
