I've been using fovis_ros mono_odometer with an asus xtion pro live successfuly, then I found ccny_rgbd, which is more lightweight.
The problem I'm having is that while fovis_ros works great, ccny_rgbd on the other hand gives me terrible odometry with the same hardware: amcl laser drifts very quickly out of the map, so it can not localize.
The only parameter I have changed from default visual_odometry.launch file is the "base_frame" which I changed from camera_link to base_link.
I also provide a base_link to camera_link transform manually, so that this transform reflects the position of the camera relatively to the base:
rosrun tf static_transform_publisher -0.035 0 0.12 0 0 0 base_link camera_link 40
So the camera is not exactly centered on the robotic base, it is a few centimeters distant from the middle of the robot.
This transform works great when used with gmapping, amcl, fovis_ros... so it looks ok to me.
I am wondering whether ccny_rgbd takes in count the relative position of the camera correctly with this transform. Is it supposed to work if the camera is not centered on the robotic base ?
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