TF tree breaking in real drone

matlabbe / rtabmap_drone_example

Example of using move_base with mavros/px4 and rtabmap visual SLAM

BSD 3-Clause "New" or "Revised" License

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TF tree breaking in real drone #5

Closed FPSychotic closed 2 years ago

FPSychotic commented 2 years ago

Hi, trying to apply this example to a real drone, but I'm finding that the fact of run mavros, make a TF map to base_link wich conflicts and with the rtabmap TF tree, map>odom>base_link and no map is published, I find a reference to this issue here.

https://github.com/mavlink/mavros/issues/1388

I think mavros brakes the REP105 convention, what have not many sense. But I'm not a expert. Thanks!

FPSychotic commented 2 years ago

Well it is not issue of Rtabmap but it conflicts a little. You should try use base_link and setup the tree with static tf publisher node. Mavros go on is own way...