This packge contains a tool for the conversion of the robots odometry to a motion matrix to substitude the visual odometry.
All the information given on how to run the nodes should only be used if you need to run them seperately. In normal cases please refer to the perception_people_launch
package to start the whole perception pipeline.
This node creates a motion matrix from the robots odometry using the Eigen library to substitude the visual odometry.
Run with:
roslaunch odometry_to_motion_matrix odom2visual.launch
Parameters:
odom
: Default: /odom The topic on which the robots odometry is publishedmotion_parameters
: Default: /visual_odometry/motion_matrix The topic on which the resulting motion matrix is published