matlabbe
matlabbe
Not sure why `bebop/base_link` exists, it seems not in the tf tree. Not sure if I like `world->/red/base_link` link, it feels a ground truth hard link from the simulator, I...
Try installing `ros-melodic-rtabmap` and see if it works.
By default on ROS, we set `RGBD/CreateOccupancyGrid` to true. The following code reads config file, rosparam or arguments that can overwrite it: https://github.com/introlab/rtabmap_ros/blob/49cbce487426bbddfe0eaff07f371c2324e094d1/rtabmap_slam/src/CoreWrapper.cpp#L335-L405 Launch with argument "`--RGBD/CreateOccupancyGrid false`" or set...
For the standalone library: * Examples: https://github.com/introlab/rtabmap/tree/master/examples * Tutorials: https://github.com/introlab/rtabmap/wiki/Tutorials If you want to do SLAM on a robot (or use a Lidar), I strongly recommend to use [rtabmap_ros](https://github.com/introlab/rtabmap_ros) package....
This example works also for stereo: https://github.com/introlab/rtabmap/blob/master/examples/RGBDMapping/main.cpp It depends which kind of stereo camera you have. If this a supported camera in rtabmap, you may use that example directly.
I don't think simulating a fake lidar from the camera will increase loop closure accuracy/precision. > wrong loop-closures/sometimes There are some ways to decrease wrong loop closures to be accepted,...
Yes, if you have multiple cameras to increase FOV, a resulting fake >180 deg FOV laser scan could help with loop closures. You may use a node to convert the...
Increasing to setup_ros v0.5 doesn't seem to help https://github.com/introlab/rtabmap/actions/runs/4272000374/jobs/7436857616
Other related issues: https://github.com/ros-tooling/setup-ros/issues/542 https://github.com/ros-tooling/setup-ros/pull/543
It seems that issue https://github.com/introlab/rtabmap/issues/39 would have been fixed since 2015 as `Mem/ReduceGraph=true` was used for one of my paper last year: https://github.com/introlab/rtabmap/blob/e6e6630d544376d1de39dd0d23c57ed8e414ea98/archive/2022-IlluminationInvariant/scripts/run_merge.sh#L32 Based on the same [dataset](https://github.com/introlab/rtabmap/tree/master/archive/2022-IlluminationInvariant#dataset), I tried...