Visualize and save the trajectory

[canglangzhige]

I can not visualize the trajectory in rviz by add topic. If there is not the topic? Can I get the saved trajectory?

[geturin]

you can use the hector_trajectory_server

in your launch file, like:

<node pkg="hector_trajectory_server" type="hector_trajectory_server" name="trajectory_server_orb_slam2" output="screen" ns="orb_slam2_ros" > <param name="/target_frame_name" value="/map" /> <param name="/source_frame_name" value="/base_link" /> <param name="/trajectory_update_rate" value="20.0" /> <param name="/trajectory_publish_rate" value="20.0" /> </node>

[canglangzhige]

OK. Thank you!