I'm buiding a robot equipped with a kinect sensor that will navigate a room autonomously or based on manually entered waypoints. I'd like to use rgbdslam to map out the environment the robot is in, and since it of course also does localization, I was wondering how to extract the kinects coordinates and orientation from rgbdslam. Any help?
Originally posted by pdowling on ROS Answers with karma: 11 on 2011-09-12
Post score: 1
Have you explored the tf tree rgbdslam generates for you? It seems slam_transform is the localized position of the kinect.
Originally posted by redbaron148 with karma: 66 on 2011-09-14
This answer was ACCEPTED on the original site
Post score: 3
The answer of redbaron is correct. In the new snapshot (see installation instructions here) there is a fixed frame (by default called "map" and positioned where the first frame is taken) and a transformation to the "openni_camera" frame is given from there.
Originally posted by Felix Endres with karma: 6468 on 2011-10-17
This answer was NOT ACCEPTED on the original site
Post score: 1