I’m doing something a little different with fiducial_slam, specifically trying to record both fiducials and lidar scanning in the same run. I created a sensor setup that I’m pushing around on a cart - this defines a “robot” that has a pi cam and a lidar sensor. I’ve recorded a bag file with the camera images and lidar, and am trying to run fiducial_slam on it to create the map.
My URDF file defines base_footprint -> base_link -> camera, and also base_link -> laser frame. I am launching fiducial_slam with the following command:
roslaunch fiducial_slam fiducial_slam.launch map_frame:=“map” odom_frame:=“odom” base_frame:=“base_link” publish_6dof_pose:=“true” publish_tf:=“true” future_date_transforms:=“0.5”
This is giving me a separate transform tree of map -> odom, with no connection to the “robot”. It’s also giving me a massive headache. For the life of me, I can’t get the transform tree to acknowledge that the “robot” is on the map, so fiducial_slam can’t place anything but the initial two aruco markers. Can anyone offer some insight? I’m really at a loss.