I currently have a problem that in the tf-tree map and odom are already published by other Nodes running on my robot. Now when i start rtabmap to build a 3d-map while moving the robot all my TFs in rviz start jumping because rtabmap tryes to overwrite my map -> odom with its own.
Is there a way i can stop rtabmap publishing its own map --> odom or at least rename them to not get those topics overwritten all the time?
EDIT: I dont use visual odometry because i want to use the TFs and odometry from hector mapping
Also i currently tried a new Code where i start hector_mapping together with rtabmap.
If i start the launchfile i get the 2D-scans from the laser with hector mapping but i get this failure from rtabmap:
... logging to /home/twmr/.ros/log/7e3f50d8-8b5d-11e8-b412-2046a100fb8d/roslaunch-twmr-desktop-27203.log
Checking log directory for disk usage. This may take awhile.
Press Ctrl-C to interrupt
Done checking log file disk usage. Usage is <1GB.
To stop rtabmap to publish map->odom, set publish_tf parameter to false. In hector mapping example here, we disabled map->odom transform of hector mapping instead, as hector mapping was used only for lidar odometry.
The covariance values (coming from /scanmatch_odom topic) seem wrong, x=10, y=12, theta 18000 are quite high. If the covariance cannot be fixed, you can make rtabmap use predefined variances instead, with: