Change tf Transform provided by rtabmap_ros rgbd_odometry
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.
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?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:
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.