Localisation with sensor fusion (ekf) of wheel odom and visual odom

[coen132]

Hey,

I'm kinda stuck on this for 2 days already, I can't find a proper explanation of how to implement this in the ROS2 version of this package. I have a ekf which fuses the wheel odometry, rgbd_odometry, and Imu. It publishes this on "/odometry/ekf_local". I also let it publish the transformation between odom -> base_link.

I have disabled "publish_tf_odom" in my rtabmap launch file, remapped the "rgbd_odom" odom_topic to /rgbd_odom and "rtabmap_slam" odom_topic to /odometry/ekf_local

I have a map but I can't localize on it. Any suggestions on how to properly implement this? I saw a discussion about having an extra odom frame like Map -> vo -> odom -> base_link

Thanks in advance!

[matlabbe]

I have a map but I can't localize on it.

Has the map been created by rtabmap in similar setup? Do you mean that you restarted rtabmap in localization mode and it cannot localize on the map?

Do you have any warnings in terminal about rtabmap not receiving topics?