Open r0n1tr opened 3 weeks ago
For the odometry latency, do you mean there is more latency on python code or rtabmap's odometry?
For the odometry correctly, either you use TF to get map->odom
transform to correct the received odometry, or subscribe to /rtabmap/mapGraph and read mapToOdom
transform to correct the odometry afterwards.
Hi sir,
We are using a python script to overlay odometry feed from a cloud generated environment (.ply) that is converted into a 2d occupancy grid for autonomous navigation, it seems to be that there's a significant difference in latency between the odom feed in rtab_map and then using it in python. Additionally, when we do "reset odometry" in rtabmap, the odometry shown in rtabmap corrects itself once localised, but the odometry topic in python is not corrected, and becomes very incorrect. I was wondering if there was a specific reason or a severe oversight on our part. Thank you for your time.
Here is our code for extra context: