odom_frame and sensor_frame

[narutojxl]

Hi, @danieldugas,
when roslaunch segmapper kitti_loop_closure.launch, odom_frame is "world", sensor_frame is "velodyne", the TF between them is published by the bag. As in laser_slam_worker.cpp#L99, the slam_worker need this transform. It seems that i have to provide this TF before use my own data.

• Does there have existed some open sourced project fusing wheel odom and imu to provide this odom?

Thanks very much for your help in advance !

[huuxi]

Have you solved this problem?

[narutojxl]

Hi @huuxi, It’s been a long time since this matter was continued, so this problem should not have been resolved at that time. Sorry for that. If you have some progress, please update, thanks for your help.