matlabbe
matlabbe
There should not be a big difference between using IMU or not for the relative motion. Can you show how do you filter the imu from the camera for rtabmap...
One thing I could see is that the IMU's static transform is wrong, though the realsense driver should give already a fairly accurate one. Can you record some data while...
see https://github.com/introlab/rtabmap/issues/1062#issuecomment-1597997914
Try this (more recent) zed example: https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_examples/launch/zed.launch.py I think zed changed slightly their launch file since the example on the main README.
Those image corruptions are pretty bad (that would come from the camera driver, not rtabmap), hopefully it works on your orin.
Di you try [robot_localization](https://github.com/cra-ros-pkg/robot_localization) package? I would refer to them or[ Robotics Exchange](https://robotics.stackexchange.com/) to get help about that. If you have more rtabmap specific questions, I could try to help...
Are there any warnings on the terminal? There should be if rtabmap is not processing anything. Another way to debug is to look at the errors with: ``` ros2 run...
As you are posting this to rtabmap_ros, I assume its for the ROS2 version. If so, I suggest to create your own ros package for the odometry node you want...
1. The reference frame depends on `RGBD/OptimizeFromGraphEnd`. If false, the reference of the combined map will be the one from the oldest map. If true, the reference is the latest...
It looks like bad disparity computed by realsense2. You may try different presets to see if it can be fixed. https://github.com/IntelRealSense/librealsense/wiki/D400-Series-Visual-Presets. I'll suggest to look at the disparity image or...