Change tf Transform provided by rtabmap_ros rgbd_odometry

asked 2021-09-10 14:14:03 -0500

seanb
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I was wondering if it was possible to change the tf transform provided by the rgbd_odometry node. By default the published transform is from parent frame "odom" to child frame "base_link". I had hoped that changing the "odom_frame_id" and " frame_id" parameters might do the trick, but all this does is give me a floating frame in my tf tree with name "odom_frame_id".

My use case is that I am running a bagfile with odom frame provided, and am hoping to observe the effects of visual odometry instead. Thus rgbd_odometry publishing the transform odom -> base_link is conflicting with data from the bagfile, when I would like to ignore the bagfile odometry data completely.

If anyone has answers I would greatly appreciate some help.

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I've not used rtabmap. Have you tried modifying launch file to just not run the node? Or if it's a one-time test, do a rosnode kill on it after things have started up?

Mike Scheutzow ( 2021-09-12 10:45:41 -0500 )edit

Sorry if I'm misunderstanding your comment, but I actually do want the rgbd_odometry node (within the rtabmap_ros package) running to provide odometry. This node takes in camera data and publishes odometry in two ways:

By publishing a nav_msgs/Odometry message to the /odom topic
By publishing a tf transform odom -> base_link to the /tf topic

I would like to change the tf transform published by this node, since the bagfile I am running already publishes a tf transform with the same parent and child frames. So far I have been unable to find any means of doing so.

seanb ( 2021-09-12 17:28:35 -0500 )edit

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answered 2021-09-13 11:14:48 -0500

matlabbe

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Based on this section: http://wiki.ros.org/rtabmap_ros#Visua..., you could change those parameters:

~frame_id (string, default: "base_link")

The frame attached to the mobile base.

~odom_frame_id (string, default: "odom")

The odometry frame.

rosrun rtabmap_ros rgbd_odometry _frame_id:=base_frame _odom_frame_id:=odom_frame odom:=odom_topic_name

However, if your bag is providing already TF between odom and base_link frames, without modifying the bag or breaking the Tf Tree (to avoid two parents for base_link), you can use it as guess for rgbd_odometry:

rosrun rtabmap_ros rgbd_odometry _frame_id:=base_link _odom_frame_id:=vo_odom odom:=vo_odom _guess_frame_id:=odom

Other option is to remove completly your odom frame from TF from your bag using a script similar to this: http://official-rtab-map-forum.206.s1...

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Change tf Transform provided by rtabmap_ros rgbd_odometry

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