matlabbe
matlabbe
Thx for the data, it seems there is a bug with g2o optimizer for that example. When using gtsam instead `--Optimizer/Strategy 2`, it localizes (accepts) correctly. Digging a little more,...
Yes, you can add `--Optimizer/Strategy 2` to `args` attribute of rtabmap node, or add `` under rtabmap node.
> features are marked as red points This bug should not affect feature matching, but would reject localizations (red background on loop closure detection view). As stated [above](https://github.com/introlab/rtabmap_ros/issues/1034#issuecomment-1868376493), this is...
Based on those [examples](https://github.com/introlab/rtabmap_ros/tree/ros2#usage) using `rtabmap.launch.py`, you can launch with `visual_odometry:=false odom_topic:=/openvins/odom`. or if you launch rtabmap node only: ``` ros2 run rtabmap_slam rtabmap --ros-args -r odom:=/openvins/odom ... ```
What is the g2o version used on the computer? Ideally make sure only one is installed. [Same thing for octomap library](https://github.com/introlab/rtabmap_ros/issues/737#issuecomment-1407157456). Try redoing a fresh make/install of rtabmap library (delete...
For the first issue, it has been described in this [paper](https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/8/87/LabbeAURO2017.pdf), figure 4.  If you don't have a lidar, either you need 2 cameras (forward and backward) to detect...
> 180 degree after reaching back to starting point but still it give the overlap map. Is it even corrected? If a loop closure cannot be found, it won't correct...
I think zed IMU data has orientation already computed, you may remove the madgwick filter and connect directly the imu data to `imu_to_tf` node. How much did you try to...
Keep the stabilized frame: ```xml ``` What is the warning using `wait_for_transform=1` ? It is strange if the extrapolation in the future is below 1 sec, even after waiting 1...
The error message is slightly different, it seems that TF velodyne_stabilized -> velodyne is just not published.