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Implementation issue of the opensource_tracking.launch #8

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SahanGura opened this issue Feb 23, 2022 · 0 comments
Open

Implementation issue of the opensource_tracking.launch #8

SahanGura opened this issue Feb 23, 2022 · 0 comments

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@SahanGura
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In the opensource_tracking.launch file, filtered odometry given by the ukf of robot localization package has not fed into the rtabmap node. Which means rtabmap node subscribes odometry from rgbd_odometry node thorugh rtabmap/odom topic. So filtered odometry from ukf is not used in rtabmap if I am not mistaken?

Isn't the correct implementation something like following node graph?
ekf_node_graph
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@SahanGura