{"action":"closed","issue":{"url":"https://api.github.com/repos/stereolabs/zed-ros-wrapper/issues/281","repository_url":"https://api.github.com/repos/stereolabs/zed-ros-wrapper","labels_url":"https://api.github.com/repos/stereolabs/zed-ros-wrapper/issues/281/labels{/name}","comments_url":"https://api.github.com/repos/stereolabs/zed-ros-wrapper/issues/281/comments","events_url":"https://api.github.com/repos/stereolabs/zed-ros-wrapper/issues/281/events","html_url":"https://github.com/stereolabs/zed-ros-wrapper/issues/281","id":362523210,"node_id":"MDU6SXNzdWUzNjI1MjMyMTA=","number":281,"title":"Add an ability to turn of /map -> /odom transform to use with RTABMAP","user":{"login":"ArkadiuszNiemiec","id":12136404,"node_id":"MDQ6VXNlcjEyMTM2NDA0","avatar_url":"https://avatars1.githubusercontent.com/u/12136404?v=4","gravatar_id":"","url":"https://api.github.com/users/ArkadiuszNiemiec","html_url":"https://github.com/ArkadiuszNiemiec","followers_url":"https://api.github.com/users/ArkadiuszNiemiec/followers","following_url":"https://api.github.com/users/ArkadiuszNiemiec/following{/other_user}","gists_url":"https://api.github.com/users/ArkadiuszNiemiec/gists{/gist_id}","starred_url":"https://api.github.com/users/ArkadiuszNiemiec/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/ArkadiuszNiemiec/subscriptions","organizations_url":"https://api.github.com/users/ArkadiuszNiemiec/orgs","repos_url":"https://api.github.com/users/ArkadiuszNiemiec/repos","events_url":"https://api.github.com/users/ArkadiuszNiemiec/events{/privacy}","received_events_url":"https://api.github.com/users/ArkadiuszNiemiec/received_events","type":"User","site_admin":false},"labels":[{"id":258273728,"node_id":"MDU6TGFiZWwyNTgyNzM3Mjg=","url":"https://api.github.com/repos/stereolabs/zed-ros-wrapper/labels/enhancement","name":"enhancement","color":"84b6eb","default":true}],"state":"closed","locked":false,"assignee":{"login":"Myzhar","id":3648617,"node_id":"MDQ6VXNlcjM2NDg2MTc=","avatar_url":"https://avatars3.githubusercontent.com/u/3648617?v=4","gravatar_id":"","url":"https://api.github.com/users/Myzhar","html_url":"https://github.com/Myzhar","followers_url":"https://api.github.com/users/Myzhar/followers","following_url":"https://api.github.com/users/Myzhar/following{/other_user}","gists_url":"https://api.github.com/users/Myzhar/gists{/gist_id}","starred_url":"https://api.github.com/users/Myzhar/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Myzhar/subscriptions","organizations_url":"https://api.github.com/users/Myzhar/orgs","repos_url":"https://api.github.com/users/Myzhar/repos","events_url":"https://api.github.com/users/Myzhar/events{/privacy}","received_events_url":"https://api.github.com/users/Myzhar/received_events","type":"User","site_admin":false},"assignees":[{"login":"Myzhar","id":3648617,"node_id":"MDQ6VXNlcjM2NDg2MTc=","avatar_url":"https://avatars3.githubusercontent.com/u/3648617?v=4","gravatar_id":"","url":"https://api.github.com/users/Myzhar","html_url":"https://github.com/Myzhar","followers_url":"https://api.github.com/users/Myzhar/followers","following_url":"https://api.github.com/users/Myzhar/following{/other_user}","gists_url":"https://api.github.com/users/Myzhar/gists{/gist_id}","starred_url":"https://api.github.com/users/Myzhar/starred{/owner}{/repo}","subscriptions_url":"https://api.github.com/users/Myzhar/subscriptions","organizations_url":"https://api.github.com/users/Myzhar/orgs","repos_url":"https://api.github.com/users/Myzhar/repos","events_url":"https://api.github.com/users/Myzhar/events{/privacy}","received_events_url":"https://api.github.com/users/Myzhar/received_events","type":"User","site_admin":false}],"milestone":null,"comments":3,"created_at":"2018-09-21T09:09:36Z","updated_at":"2018-09-21T09:37:12Z","closed_at":"2018-09-21T09:37:12Z","author_association":"CONTRIBUTOR","body":"I have found an issue that makes ZED-M not able to work with RTAB-Map while using ZED's odometry and RTAB-Map loop-closure. My goal is to use odometry from ZED and allow RTAB-Map to publish `/map -> /odom` and correct it when loop-closure is detected.\r\nThe problem is that `zed-ros-wrapper` already publishes `/map -> /odom` transformation and thus both software overwrites themselves.\r\n\r\nTo solve it I commented a few lines in `zed-ros-wrapper` to stop it from publishing this transform. Do you think that we can add a parameter that turns it off? Do you want me to do a PR?\r\n\r\nEdit: problem explained on [RTAB-Map forum](http://official-rtab-map-forum.67519.x6.nabble.com/How-to-obtain-corrected-Odometry-to-display-in-rviz-td4989.html)."}}
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