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Replacing AMCL #9

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denesh-botsync opened this issue Feb 8, 2021 · 0 comments
Open

Replacing AMCL #9

denesh-botsync opened this issue Feb 8, 2021 · 0 comments

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@denesh-botsync
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denesh-botsync commented Feb 8, 2021 •
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From my understanding the usual ROS1 navigation stack uses AMCL to perform the transform from Map frame to the Odom frame. Is it possible for orbslam to replace this transformation and act as the localisation node? From the bag file I observe that the algorithm is giving an odom2 to camera transformation.

How is it possible to use this odom2 to camera transformation to replace the AMCL Map to Odom transformation?

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