I have a map generated using a Kinect and RTAB-Map. I want to run RTAB-Map again in localization mode using the same database, and have repeatable coordinates within the map, regardless of my starting position.
From what I understand, the `map` frame origin is set to the starting point when odometry starts, so I don't know my position within the saved map. I'd like to have a canonical set of coordinates that is the same for the same physical location between sessions. If there was a tf frame that is fixed within the saved map, that would work.
Does RTAB-Map have this feature? What should I do to achieve this?
Thanks
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