orb_slam_2_ros icon indicating copy to clipboard operation
orb_slam_2_ros copied to clipboard

Published 20 hours ago • verified publisher icon appliedAI-Initiative

Pose moving downwards ?

Open ChristofGroschke opened this issue 4 years ago • 4 comments

Hey there,

I'm a beginner using orbslam and ros. I have a question regarding the pose which is published to tf.

I'm using a kinect camera on top of a turtlebot3. When moving forward on an even ground the position is moving downwards. Is there an easy way to keep the position on track ? Or is my configuration incorrect ?

pos_down

https://pastebin.com/R3aZTR27

I'm grateful for every tip i can get :)

ChristofGroschke avatar May 02 '20 16:05 ChristofGroschke

checkout tf_orb_to_ros in Node.cc that rotates the orb frame to ROS frame, change it to match your system orientation

Ador2 avatar Oct 06 '20 17:10 Ador2

Could you fix your issue? Is your TF tree correct?

lennarthaller avatar Jan 16 '21 18:01 lennarthaller

I'm having the same issue with rapsberry pi camera for monocular slam

stephennacion06 avatar May 18 '21 13:05 stephennacion06

image

stephennacion06 avatar May 18 '21 14:05 stephennacion06