From 7a4a4037f906d419ab6849e25c2995f1acd42b03 Mon Sep 17 00:00:00 2001 From: rlj5 Date: Tue, 10 Mar 2026 16:49:04 -0400 Subject: [PATCH 01/17] Drafted 2d_lidar for rtabmap --- src/igvc_slam/launch/sim_rtabmap.launch.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 41b3991f..0c7feead 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -41,6 +41,17 @@ def generate_launch_description(): 'imu_topic' : '/rtabmap/imu', 'wait_imu_to_init' : 'false', 'map_topic' : '/map' + + + 'odom_tf_linear_variance': '0.001', + 'odom_tf_angular_variance': '0.001', + 'subscribe_rgbd': 'true', + 'subscribe_scan' : 'true', + 'scan_topic' : '/scan', + 'scan_normal_k' : '0', + 'scan_range_min' : '0.05', + 'scan_range_max' : '30.0', + 'scan_cloud_max_points' : '2000', }.items() ) From 8d0c855be6a1d048d9b502e7f4a1df1d5210ce0a Mon Sep 17 00:00:00 2001 From: rlj5 Date: Fri, 13 Mar 2026 21:43:05 +0000 Subject: [PATCH 02/17] merge conflicts --- src/igvc_slam/launch/sim_rtabmap.launch.py | 11 ++--------- 1 file changed, 2 insertions(+), 9 deletions(-) diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 0c7feead..86837f69 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -40,9 +40,7 @@ def generate_launch_description(): 'wait_for_transform' : '0.4', 'imu_topic' : '/rtabmap/imu', 'wait_imu_to_init' : 'false', - 'map_topic' : '/map' - - + 'map_topic' : '/map', 'odom_tf_linear_variance': '0.001', 'odom_tf_angular_variance': '0.001', 'subscribe_rgbd': 'true', @@ -51,10 +49,5 @@ def generate_launch_description(): 'scan_normal_k' : '0', 'scan_range_min' : '0.05', 'scan_range_max' : '30.0', - 'scan_cloud_max_points' : '2000', + 'scan_cloud_max_points' : '2000' }.items() - ) - - return LaunchDescription([ - rtabmap - ]) \ No newline at end of file From 8c790d0c7d814bbc3b23c53a4b1c3036342a5fc1 Mon Sep 17 00:00:00 2001 From: rlj5 Date: Fri, 13 Mar 2026 23:58:40 -0400 Subject: [PATCH 03/17] Fixed typo and added RGBD/FromDepth parameters --- src/igvc_slam/launch/sim_rtabmap.launch.py | 15 +++++++-------- 1 file changed, 7 insertions(+), 8 deletions(-) diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 0c7feead..05166d54 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -40,21 +40,20 @@ def generate_launch_description(): 'wait_for_transform' : '0.4', 'imu_topic' : '/rtabmap/imu', 'wait_imu_to_init' : 'false', - 'map_topic' : '/map' + 'map_topic' : '/map', + - 'odom_tf_linear_variance': '0.001', 'odom_tf_angular_variance': '0.001', 'subscribe_rgbd': 'true', 'subscribe_scan' : 'true', - 'scan_topic' : '/scan', - 'scan_normal_k' : '0', - 'scan_range_min' : '0.05', - 'scan_range_max' : '30.0', - 'scan_cloud_max_points' : '2000', + 'RGBD/ProximityBySpace' : 'true', + 'RGBD/NeighborLinkRefining' : 'true', + 'Grid/FromDepth' : 'false' + }.items() ) return LaunchDescription([ rtabmap - ]) \ No newline at end of file + ]) From 98269058bf56c62be93ea0f2c218e9acf670ded9 Mon Sep 17 00:00:00 2001 From: rlj5 Date: Sat, 14 Mar 2026 00:04:08 -0400 Subject: [PATCH 04/17] Removed ODOM and edited parameters --- src/igvc_slam/launch/sim_rtabmap.launch.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 05166d54..95d15562 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -42,13 +42,12 @@ def generate_launch_description(): 'wait_imu_to_init' : 'false', 'map_topic' : '/map', - - 'odom_tf_linear_variance': '0.001', - 'odom_tf_angular_variance': '0.001', 'subscribe_rgbd': 'true', 'subscribe_scan' : 'true', 'RGBD/ProximityBySpace' : 'true', 'RGBD/NeighborLinkRefining' : 'true', + 'Reg/Strategy' : '1', + 'Reg/Force3DoF' : 'true', 'Grid/FromDepth' : 'false' }.items() From bf2faf34567379fea6274bbcf6a599a6479ea73b Mon Sep 17 00:00:00 2001 From: rlj5 Date: Tue, 24 Mar 2026 17:52:36 -0400 Subject: [PATCH 05/17] Updating commit --- src/igvc_slam/launch/sim_rtabmap.launch.py | 13 ------------- 1 file changed, 13 deletions(-) diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 104ac782..95d15562 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -41,18 +41,6 @@ def generate_launch_description(): 'imu_topic' : '/rtabmap/imu', 'wait_imu_to_init' : 'false', 'map_topic' : '/map', -<<<<<<< HEAD - 'odom_tf_linear_variance': '0.001', - 'odom_tf_angular_variance': '0.001', - 'subscribe_rgbd': 'true', - 'subscribe_scan' : 'true', - 'scan_topic' : '/scan', - 'scan_normal_k' : '0', - 'scan_range_min' : '0.05', - 'scan_range_max' : '30.0', - 'scan_cloud_max_points' : '2000' - }.items() -======= 'subscribe_rgbd': 'true', 'subscribe_scan' : 'true', @@ -68,4 +56,3 @@ def generate_launch_description(): return LaunchDescription([ rtabmap ]) ->>>>>>> 98269058bf56c62be93ea0f2c218e9acf670ded9 From 1f199a27c691e43eca09f335f62ad93212e34b95 Mon Sep 17 00:00:00 2001 From: rlj5 Date: Tue, 10 Mar 2026 16:49:04 -0400 Subject: [PATCH 06/17] Drafted 2d_lidar for rtabmap --- src/igvc_slam/launch/sim_rtabmap.launch.py | 11 +++++++++++ 1 file changed, 11 insertions(+) diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 41b3991f..0c7feead 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -41,6 +41,17 @@ def generate_launch_description(): 'imu_topic' : '/rtabmap/imu', 'wait_imu_to_init' : 'false', 'map_topic' : '/map' + + + 'odom_tf_linear_variance': '0.001', + 'odom_tf_angular_variance': '0.001', + 'subscribe_rgbd': 'true', + 'subscribe_scan' : 'true', + 'scan_topic' : '/scan', + 'scan_normal_k' : '0', + 'scan_range_min' : '0.05', + 'scan_range_max' : '30.0', + 'scan_cloud_max_points' : '2000', }.items() ) From c22dc68402d2ce55b9e3ebbba6586510cf735672 Mon Sep 17 00:00:00 2001 From: rlj5 Date: Fri, 13 Mar 2026 21:43:05 +0000 Subject: [PATCH 07/17] merge conflicts --- src/igvc_slam/launch/sim_rtabmap.launch.py | 11 ++--------- 1 file changed, 2 insertions(+), 9 deletions(-) diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 0c7feead..86837f69 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -40,9 +40,7 @@ def generate_launch_description(): 'wait_for_transform' : '0.4', 'imu_topic' : '/rtabmap/imu', 'wait_imu_to_init' : 'false', - 'map_topic' : '/map' - - + 'map_topic' : '/map', 'odom_tf_linear_variance': '0.001', 'odom_tf_angular_variance': '0.001', 'subscribe_rgbd': 'true', @@ -51,10 +49,5 @@ def generate_launch_description(): 'scan_normal_k' : '0', 'scan_range_min' : '0.05', 'scan_range_max' : '30.0', - 'scan_cloud_max_points' : '2000', + 'scan_cloud_max_points' : '2000' }.items() - ) - - return LaunchDescription([ - rtabmap - ]) \ No newline at end of file From 5971f2007bb4d26fca926b9ff00abcc5344dfdea Mon Sep 17 00:00:00 2001 From: rlj5 Date: Fri, 13 Mar 2026 23:58:40 -0400 Subject: [PATCH 08/17] Fixed typo and added RGBD/FromDepth parameters --- src/igvc_slam/launch/sim_rtabmap.launch.py | 16 +++++++++++----- 1 file changed, 11 insertions(+), 5 deletions(-) diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 86837f69..05166d54 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -41,13 +41,19 @@ def generate_launch_description(): 'imu_topic' : '/rtabmap/imu', 'wait_imu_to_init' : 'false', 'map_topic' : '/map', + + 'odom_tf_linear_variance': '0.001', 'odom_tf_angular_variance': '0.001', 'subscribe_rgbd': 'true', 'subscribe_scan' : 'true', - 'scan_topic' : '/scan', - 'scan_normal_k' : '0', - 'scan_range_min' : '0.05', - 'scan_range_max' : '30.0', - 'scan_cloud_max_points' : '2000' + 'RGBD/ProximityBySpace' : 'true', + 'RGBD/NeighborLinkRefining' : 'true', + 'Grid/FromDepth' : 'false' + }.items() + ) + + return LaunchDescription([ + rtabmap + ]) From 578fa1a901ea1f68c196565cc77f83a64e90f108 Mon Sep 17 00:00:00 2001 From: rlj5 Date: Sat, 14 Mar 2026 00:04:08 -0400 Subject: [PATCH 09/17] Removed ODOM and edited parameters --- src/igvc_slam/launch/sim_rtabmap.launch.py | 5 ++--- 1 file changed, 2 insertions(+), 3 deletions(-) diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 05166d54..95d15562 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -42,13 +42,12 @@ def generate_launch_description(): 'wait_imu_to_init' : 'false', 'map_topic' : '/map', - - 'odom_tf_linear_variance': '0.001', - 'odom_tf_angular_variance': '0.001', 'subscribe_rgbd': 'true', 'subscribe_scan' : 'true', 'RGBD/ProximityBySpace' : 'true', 'RGBD/NeighborLinkRefining' : 'true', + 'Reg/Strategy' : '1', + 'Reg/Force3DoF' : 'true', 'Grid/FromDepth' : 'false' }.items() From 420d347e9180b2c868125edab2005a4387e4adf8 Mon Sep 17 00:00:00 2001 From: rlj5 Date: Fri, 27 Mar 2026 23:46:02 +0000 Subject: [PATCH 10/17] Draft of adding base_link --- src/igvc_description/urdf/robot.urdf.xacro | 9 +++++++++ 1 file changed, 9 insertions(+) diff --git a/src/igvc_description/urdf/robot.urdf.xacro b/src/igvc_description/urdf/robot.urdf.xacro index fdf462af..d3904cef 100644 --- a/src/igvc_description/urdf/robot.urdf.xacro +++ b/src/igvc_description/urdf/robot.urdf.xacro @@ -12,6 +12,15 @@ + + + + + + + + + From 1753063a263b9788d5b7d81b598fa2da6722ba8c Mon Sep 17 00:00:00 2001 From: rlj5 Date: Sat, 28 Mar 2026 01:09:19 +0000 Subject: [PATCH 11/17] Edited joint --- src/igvc_slam/launch/sim_rtabmap.launch.py | 6 +----- 1 file changed, 1 insertion(+), 5 deletions(-) diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 95d15562..6b4e912f 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -42,14 +42,10 @@ def generate_launch_description(): 'wait_imu_to_init' : 'false', 'map_topic' : '/map', - 'subscribe_rgbd': 'true', 'subscribe_scan' : 'true', - 'RGBD/ProximityBySpace' : 'true', - 'RGBD/NeighborLinkRefining' : 'true', - 'Reg/Strategy' : '1', + 'scan_topic' : '/scan', 'Reg/Force3DoF' : 'true', 'Grid/FromDepth' : 'false' - }.items() ) From 2f271752804d74cd1b831572c5c358ad7cc66732 Mon Sep 17 00:00:00 2001 From: rlj5 Date: Sat, 28 Mar 2026 01:11:52 +0000 Subject: [PATCH 12/17] Changed joint placement --- src/igvc_description/urdf/robot.urdf.xacro | 11 +++++------ src/igvc_slam/launch/sim_rtabmap.launch.py | 5 ++--- 2 files changed, 7 insertions(+), 9 deletions(-) diff --git a/src/igvc_description/urdf/robot.urdf.xacro b/src/igvc_description/urdf/robot.urdf.xacro index d3904cef..7d3efab4 100644 --- a/src/igvc_description/urdf/robot.urdf.xacro +++ b/src/igvc_description/urdf/robot.urdf.xacro @@ -4,18 +4,17 @@ + - - + + - + - - - + diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 6b4e912f..0e908e6d 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -41,11 +41,10 @@ def generate_launch_description(): 'imu_topic' : '/rtabmap/imu', 'wait_imu_to_init' : 'false', 'map_topic' : '/map', - - 'subscribe_scan' : 'true', 'scan_topic' : '/scan', - 'Reg/Force3DoF' : 'true', + 'subscribe_scan' : 'true', 'Grid/FromDepth' : 'false' + 'Reg/Force3DoF' : 'true' }.items() ) From e56412cac135904557311b9c905d066b9d4aa13e Mon Sep 17 00:00:00 2001 From: rlj5 Date: Tue, 31 Mar 2026 21:38:14 +0000 Subject: [PATCH 13/17] Moved base_footprint children to be children of base_link --- src/igvc_description/urdf/robot.urdf.xacro | 32 ++++++++++++++++++++-- src/igvc_slam/launch/sim_rtabmap.launch.py | 2 +- 2 files changed, 31 insertions(+), 3 deletions(-) diff --git a/src/igvc_description/urdf/robot.urdf.xacro b/src/igvc_description/urdf/robot.urdf.xacro index 7d3efab4..fe92d1df 100644 --- a/src/igvc_description/urdf/robot.urdf.xacro +++ b/src/igvc_description/urdf/robot.urdf.xacro @@ -6,17 +6,45 @@ + + + + + + + + + + + + + + - + - + + + + + + + + + + + + + + + diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 0e908e6d..a5f7e3a5 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -43,7 +43,7 @@ def generate_launch_description(): 'map_topic' : '/map', 'scan_topic' : '/scan', 'subscribe_scan' : 'true', - 'Grid/FromDepth' : 'false' + 'Grid/FromDepth' : 'false', 'Reg/Force3DoF' : 'true' }.items() ) From 84d7e23daf58c73d5d23df4a47e14ca826222f34 Mon Sep 17 00:00:00 2001 From: rlj5 Date: Tue, 31 Mar 2026 21:52:58 +0000 Subject: [PATCH 14/17] Moved odom to be parent of base_link --- src/igvc_description/urdf/robot.urdf.xacro | 8 ++++++++ 1 file changed, 8 insertions(+) diff --git a/src/igvc_description/urdf/robot.urdf.xacro b/src/igvc_description/urdf/robot.urdf.xacro index fe92d1df..d3badf64 100644 --- a/src/igvc_description/urdf/robot.urdf.xacro +++ b/src/igvc_description/urdf/robot.urdf.xacro @@ -5,6 +5,14 @@ + + + + + + + + From cfcd2b30b0be17229d4b84c460e17bd9fc041c9b Mon Sep 17 00:00:00 2001 From: rlj5 Date: Sat, 4 Apr 2026 01:32:21 +0000 Subject: [PATCH 15/17] Changed sensor files instead of creating new joints --- src/igvc_description/urdf/robot.urdf.xacro | 28 ------------------- .../urdf/sensor/camera.urdf.xacro | 2 +- .../urdf/sensor/gps.urdf.xacro | 2 +- .../urdf/sensor/imu.urdf.xacro | 2 +- .../urdf/sensor/lidar.urdf.xacro | 2 +- 5 files changed, 4 insertions(+), 32 deletions(-) diff --git a/src/igvc_description/urdf/robot.urdf.xacro b/src/igvc_description/urdf/robot.urdf.xacro index d3badf64..1b6252a1 100644 --- a/src/igvc_description/urdf/robot.urdf.xacro +++ b/src/igvc_description/urdf/robot.urdf.xacro @@ -28,34 +28,6 @@ - - - - - - - - - - - - - - - - - - - - - - - - - - - - diff --git a/src/igvc_description/urdf/sensor/camera.urdf.xacro b/src/igvc_description/urdf/sensor/camera.urdf.xacro index adb11647..9cd82e80 100644 --- a/src/igvc_description/urdf/sensor/camera.urdf.xacro +++ b/src/igvc_description/urdf/sensor/camera.urdf.xacro @@ -14,7 +14,7 @@ - + diff --git a/src/igvc_description/urdf/sensor/gps.urdf.xacro b/src/igvc_description/urdf/sensor/gps.urdf.xacro index 620efe6d..2fed30fc 100644 --- a/src/igvc_description/urdf/sensor/gps.urdf.xacro +++ b/src/igvc_description/urdf/sensor/gps.urdf.xacro @@ -2,7 +2,7 @@ - + diff --git a/src/igvc_description/urdf/sensor/imu.urdf.xacro b/src/igvc_description/urdf/sensor/imu.urdf.xacro index 2cf6f2ff..9f2613ea 100644 --- a/src/igvc_description/urdf/sensor/imu.urdf.xacro +++ b/src/igvc_description/urdf/sensor/imu.urdf.xacro @@ -2,7 +2,7 @@ - + diff --git a/src/igvc_description/urdf/sensor/lidar.urdf.xacro b/src/igvc_description/urdf/sensor/lidar.urdf.xacro index 2354547f..e45f5cd1 100644 --- a/src/igvc_description/urdf/sensor/lidar.urdf.xacro +++ b/src/igvc_description/urdf/sensor/lidar.urdf.xacro @@ -1,7 +1,7 @@ - + From e9b3dd72594b02ccfffc2739fd4d03cbc6ee4b88 Mon Sep 17 00:00:00 2001 From: rlj5 Date: Sat, 4 Apr 2026 01:35:28 +0000 Subject: [PATCH 16/17] Reverted lidar changes --- src/igvc_slam/launch/sim_rtabmap.launch.py | 8 ++------ 1 file changed, 2 insertions(+), 6 deletions(-) diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index a5f7e3a5..41b3991f 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -40,14 +40,10 @@ def generate_launch_description(): 'wait_for_transform' : '0.4', 'imu_topic' : '/rtabmap/imu', 'wait_imu_to_init' : 'false', - 'map_topic' : '/map', - 'scan_topic' : '/scan', - 'subscribe_scan' : 'true', - 'Grid/FromDepth' : 'false', - 'Reg/Force3DoF' : 'true' + 'map_topic' : '/map' }.items() ) return LaunchDescription([ rtabmap - ]) + ]) \ No newline at end of file From 854d9d53da121027e607bedbf53e516407b6522d Mon Sep 17 00:00:00 2001 From: rlj5 Date: Sat, 4 Apr 2026 03:13:53 +0000 Subject: [PATCH 17/17] Changed base_footprint to base_link in parameters --- src/igvc_description/urdf/robot.urdf.xacro | 8 -------- src/igvc_nav/config/nav2_params.yaml | 2 +- src/igvc_slam/launch/rtabmap.launch.py | 2 +- src/igvc_slam/launch/sim_rtabmap.launch.py | 2 +- 4 files changed, 3 insertions(+), 11 deletions(-) diff --git a/src/igvc_description/urdf/robot.urdf.xacro b/src/igvc_description/urdf/robot.urdf.xacro index 1b6252a1..89cdcfd9 100644 --- a/src/igvc_description/urdf/robot.urdf.xacro +++ b/src/igvc_description/urdf/robot.urdf.xacro @@ -5,14 +5,6 @@ - - - - - - - - diff --git a/src/igvc_nav/config/nav2_params.yaml b/src/igvc_nav/config/nav2_params.yaml index 32973563..613f4d1b 100644 --- a/src/igvc_nav/config/nav2_params.yaml +++ b/src/igvc_nav/config/nav2_params.yaml @@ -313,7 +313,7 @@ velocity_smoother: collision_monitor: ros__parameters: - base_frame_id: "base_footprint" + base_frame_id: "base_link" odom_frame_id: "odom" cmd_vel_in_topic: "cmd_vel_smoothed" cmd_vel_out_topic: "cmd_vel" diff --git a/src/igvc_slam/launch/rtabmap.launch.py b/src/igvc_slam/launch/rtabmap.launch.py index 958ad292..8810a6e5 100644 --- a/src/igvc_slam/launch/rtabmap.launch.py +++ b/src/igvc_slam/launch/rtabmap.launch.py @@ -38,7 +38,7 @@ def generate_launch_description(): 'depth_topic' : '/camera/camera/aligned_depth_to_color/image_raw', 'rgb_topic' : '/camera/camera/color/image_raw', 'camera_info_topic' : '/camera/camera/color/camera_info', - 'frame_id' : 'base_footprint', + 'frame_id' : 'base_link', 'publish_tf_odom' : 'true', 'odom_topic' : '/odom', 'odom_frame_id' : 'odom', diff --git a/src/igvc_slam/launch/sim_rtabmap.launch.py b/src/igvc_slam/launch/sim_rtabmap.launch.py index 41b3991f..31b40491 100644 --- a/src/igvc_slam/launch/sim_rtabmap.launch.py +++ b/src/igvc_slam/launch/sim_rtabmap.launch.py @@ -21,7 +21,7 @@ def generate_launch_description(): 'rgb_topic' : '/camera/camera/color/image_raw', 'camera_info_topic' : '/camera/camera/depth/camera_info', 'approx_sync' : 'true', - 'frame_id' : 'base_footprint', + 'frame_id' : 'base_link', 'log_level' : 'debug', 'publish_tf_odom' : 'true', 'odom_topic' : '/odom',