enmar123 / rs_odom_fix Goto Github PK

Hello Jason,

I found your node on github , because I am trying to convert base_link of my robot to t265 pose frame.
Furthermore I need to fuse the two odometries ( wheel and t265 ) before to feed rtabmap.
I think that it should be done with robot localization node , but how should I modify the parameters in your tf_to_odom_v6.py ?

odom_sub = rospy.Subscriber("/t265/odom/sample", Odometry, callback)
odom_pub = rospy.Publisher("?", Odometry , queue_size=10)
odom_msg.header.frame_id = "ekf_odom"
odom_msg.child_frame_id = "?

listener.lookupTransform('t265_pose_frame', 'fake_base_link', rospy.Time(0))"

This is my graph

Thanks in advance !
germal