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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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/rtabmap/mapData is on wrong axis #873

Open ColinHmrl opened 1 year ago

ColinHmrl commented 1 year ago

Hi, /rtabmap/mapData is on different axis as the sensor. image

ColinHmrl commented 1 year ago

as we can see, the sensors faces the front of the rover, however the map created by rtab is facing the top of the rover.

matlabbe commented 1 year ago

It feels like there is a missing optical rotation between base frame and the optical frame of the camera. Make sure your camera topics has their frame_id set to an optical frame, and that their is an optical rotation between your base frame to that frame. 

rpy="${M_PI/2} 0 ${M_PI/2}"