rtabmap_ros
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introlab
The detection effect of the external odometer loop is worse than that of using a visual odometer，why?
Hello, I am trying to transfer an external odometer to the rtabmap node. This external odometer is transmitted through a robot_ Localization obtained. But when the rtabmap node is building the map, the loop detection effect is much worse than using a visual odometer.The former will have many ghosts. May I ask what the problem may be? My rtabmap detection frequency is 1HZ, is it because the detection frequency is too low? this is my launch:
<param name="wait_imu_to_init" type="bool" value="false"/>
<remap if="$(arg use_ins_imu)" from="imu" to="/sensor_ins/ins_imu"/>
<!--remap unless="$(arg use_ins_imu)" from="imu" to="/sensor/power/imu"/-->
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<param name="frame_id" type="string" value="base_link"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param if="$(arg use_ekf)" name="publish_tf" type="bool" value="false"/>
<param unless="$(arg use_ekf)" name="publish_tf" type="bool" value="true"/>
<param name="queue_size" type="int" value="1000"/>
<!--0=Frame-to-Map (F2M) 1=Frame-to-Frame (F2F) 2=Fovis 3=viso2 4=DVO-SLAM 5=ORB_SLAM2 6=OKVIS 7=LOAM 8=MSCKF_VIO 9=VINS-Fusion 10=OpenVINS 11=FLOAM 12=Open3D-->
<param name="Odom/Strategy" type="string" value="$(arg use_stereo_odometry_type)"/>
<param name="OdomORBSLAM/VocPath" type="string" value="/home/ubuntu/orb_slam3.1.0_ws/src/ORB_SLAM3/Vocabulary/ORBvoc.txt"/>
<param name="OdomORBSLAM/Bf" type="double" value="47.90639384423901"/>
<param name="OdomORBSLAM/Fps" type="double" value="17.0"/>
<param name="Vis/EstimationType" type="string" value="1"/>
<param name="Vis/MaxDepth" type="string" value="0"/>
<param name="Kp/MaxDepth" type="string" value="0"/>
<param name="Odom/GuessMotion" type="string" value="false"/>
<param name="Odom/GuessSmoothingDelay" type="int" value="1"/>
<param name="Vis/MinInliers" type="string" value="10"/>
<param name="Vis/FeatureType" type="int" value="$(arg vis_feature_type)"/> <!-- 0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9= 10=ORB‑OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector -->
</node>
<!-- Visual SLAM: args: "delete_db_on_start" and "udebug" output="screen"-->
<node if="$(arg rtabmap)" name="rtabmap" pkg="rtabmap_ros" type="rtabmap" args="--delete_db_on_start" output="screen">
<param name="frame_id" type="string" value="base_link"/>
<param name="odom_frame_id" type="string" value="odom"/>
<param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<param name="subscribe_depth" type="bool" value="false"/>
<remap from="depth/image" to="/elas/depth"/>
<remap from="left/image_rect" to="/sensor_stereo_1/left/image_rect_color"/>
<remap from="right/image_rect" to="/sensor_stereo_1/right/image_rect"/>
<remap from="left/camera_info" to="/sensor_stereo_1/left/camera_info"/>
<remap from="right/camera_info" to="/sensor_stereo_1/right/camera_info"/>
<remap from="rgbd_image" to="/sensor_stereo_1/rgbd_image"/>
<remap unless="$(arg use_ekf)" from="odom" to="/stereo_odometry"/>
<remap if="$(arg use_ekf)" from="odom" to="/odometry/filtered"/>
<param name="queue_size" type="int" value="1000"/>
<param name="map_negative_poses_ignored" type="bool" value="true"/>
<!-- RTAB-Map's parameters -->
<param name="Rtabmap/TimeThr" type="string" value="0"/>
<param name="Grid/DepthDecimation" type="string" value="4"/>
<param name="Rtabmap/DetectionRate" type="string" value="5"/>
<param name="Grid/FlatObstacleDetected" type="string" value="true"/>
<!--0=SURF 1=SIFT 2=ORB 3=FAST/FREAK 4=FAST/BRIEF 5=GFTT/FREAK 6=GFTT/BRIEF 7=BRISK 8=GFTT/ORB 9=KAZE 10=ORB‑OCTREE 11=SuperPoint 12=SURF/FREAK 13=GFTT/DAISY 14=SURF/DAISY 15=PyDetector -->
<param name="Kp/DetectorStrategy" type="string" value="$(arg vis_feature_type)"/>
<param name="Vis/FeatureType" type="int" value="$(arg vis_feature_type)"/>
<!-- use same Vis/FeatureType as odom’s -->
<param name="Vis/EstimationType" type="string" value="1"/> <!-- 0=3D->3D, 1=3D->2D (PnP) -->
<param name="Vis/MaxDepth" type="string" value="0"/>
<param name="Kp/MaxDepth" type="string" value="0"/>
<param name="RGBD/CreateOccupancyGrid" type="string" value="true"/>
<param name="g2o/Optimizer" type="int" value="1"/>
<param name="Optimizer/Strategy" type="int" value="3"/>
<param name="g2o/Solver" type="int" value="3"/>
</node>
<!-- Visualisation RTAB-Map -->
<node if="$(arg rtabmapviz)" pkg="rtabmap_ros" type="rtabmapviz" name="rtabmapviz" args="-d $(find rtabmap_ros)/launch/config/rgbd_gui.ini" output="screen">
<param unless="$(arg stereo_sync)" name="subscribe_stereo" type="bool" value="true"/>
<param name="subscribe_odom_info" type="bool" value="false"/>
<param name="subscribe_rgbd" type="bool" value="$(arg stereo_sync)"/>
<param name="queue_size" type="int" value="1000"/>
<param name="frame_id" type="string" value="base_link"/>
<remap from="left/image_rect" to="/sensor_stereo_1/left/image_rect_color"/>
<remap from="right/image_rect" to="/sensor_stereo_1/right/image_rect"/>
<remap from="left/camera_info" to="/sensor_stereo_1/left/camera_info"/>
<remap from="right/camera_info" to="/sensor_stereo_1/right/camera_info"/>
<remap from="rgbd_image" to="/sensor_stereo_1/rgbd_image"/>
<remap from="odom_info" to="odom_info"/>
<remap unless="$(arg use_ekf)" from="odom" to="/stereo_odometry"/>
<remap if="$(arg use_ekf)" from="odom" to="/odometry/filtered"/>
<remap from="mapData" to="mapData"/>
<!--param name="subscribe_depth" type="bool" value="true"/>
<remap from="depth/image" to="/elas/depth"/-->
</node>
It could depend if the odometry is drifting more, or the odometry covariance is poorly balanced in comparison to ones added during loop closure detection.
