matlabbe

For rtabmap launch, you should use ` frame_id:=base_footprint` to not break the tree. Not sure why camera and imu link are broken, because in your base_footprint tf tree, everything seems...

Is the camera upside down? Maybe there is a missing rotation in the URDF.

The navigation demo didn't work? which step failed?

``` ``` That should be mapped to an odometry topic (in your case it seems the visual odometry topic `/rtabmap/odom`), not the output localization pose. If you launch rtabmap in...

Can you share the database? With stereo indoor, the default `Grid/` parameters may not be the best for a clean occupancy grid. You could try with `Grid/NormalsSegmentation=false` (simple passthrough) with...

 It seems the `frame_id` is set on the camera, not the base of the robot. It seems roughly 1.5 meters over the ground. It will be easier...

What is the transform between `base_footprint` and oak-d-base-frame? Is it xyz=0,0,0? If so, you should change the TF between base_footprint and the camera base fame to match your robot measurements....

The link of the database is the one of the image on your previous post. For TF, no need to have a direct TF link between base_footprint and the camera...

The frustum looks at the right place now, the stereo point cloud is aligned with xy plane. There are a couple of issues: 1. As observed in a previous post,...

`1.4` reproj error looks high to me, but left/right errors look fine (` base_link = 0 0 0.03 0 0 0`, then make rtabmap uses `base_footprint` instead of `base_link`. `Grid/MaxObstacleHeight`...