t265 odometry tf tree for rtabmap mapping

[jaykorea]

Hello

Recently, I'm using t265 & d455 with rtabmap for generating roburst 3d map.

I'm using t265 odometry with my own wheel encoder data, and it seems work fine except for the pose y value..(It doesn't matter any anyway)

As using the odom tf tree that realsense provide, I can not attach it to my right robot coordination. T265 link is fix to initial pose 0,0,0(m) and it occurs odom drifting upside to its attached position(to robot side, maybe upside forward from base_link - 0.5m)

I have no idea how to attach it to my robot from my robot chassis.

I've cheat the tf tree( t265_link to base_link - it's reversed, should be base_link to t265_link , but realsense publish tf tree forcing to odom to t265_link) to work properly.

Below is my tf tree view and visualized screenshot.

I've tried all the other way to make fake odom frame, and ekf node to publish odom frame, It didn't work well....

Plz let me know how to solve this problem or how to make aligne the t265_link to exact coordination.

Thank you, sincerely

frames.pdf

[chrissunny94]

will try to assist you during this weekend

[jaykorea]

이번 주말에 당신을 돕기 위해 노력할 것입니다

Thanks for your help!!