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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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Localization poses #789

Open zijian98 opened 2 years ago

zijian98 commented 2 years ago

Hi, I have successfully mapped my environment using Intel RealSense D435i with T265 and saved the poses. May I know if its possible to get the poses after entering localization mode? I wish to check the trajectory accuracy on a map with loop closure.

Thanks

an99990 commented 2 years ago

hi i am interested in those poses too, did you find the answer ?

matlabbe commented 2 years ago

If you want to record localization poses, you may have to create yourself a node subscribing to /rtabmap/info, then get TF map->base_link at the timestamp of the message, then save the pose in a list (that could be republished like a nav_msgs/Path to be shown in RVIZ).