matlabbe
matlabbe
Can you share a database showing the issue?
Could be related to ``` ``` Can you try with `Reg/Force3DoF=false`? if you want to estimate trajectory in 6DoF
`Rtabmap/DetectionRate=3.5` is high, default 1 hz should be enough unless you are on a car or a fast robot. `rtabmap_odom::RGBDOdometry` will always try to process as many frames as possible,...
Well, this is odometry drift, looks like it didn't estimate perfectly the 90 deg turn. There are many things that can affect odometry accuracy: * Calibration (depth accuracy? distortions? depth...
The frame rate will depend on how much data the LiDAR is producing and the computer used. For example, `Icp/VoxelSize` can be increased to downsample the LiDAR scans.
`ros2 launch rtabmap_demos turtlebot3_scan.launch.py`
This one would be: ``` ros2 launch rtabmap_examples realsense_d435i_color.launch.py ```
I would stick on D435i example as I cannot have an Astra to make sure it is working. Normally, if you follow the instructions on top of this file https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_examples/launch/realsense_d435i_color.launch.py...
Do you have repeating warnings on terminal telling that rgbd_odometry or rtabmap cannot synchronize (or didn't receive) topics for 5 seconds? You may try on a computer that you know...
It indicates what is described in the message. If the topics are indeed published (check with `ros2 topic hz`), but the rate is inconsistent between them, then maybe ros message...