matlabbe
matlabbe
Hi, For the IMU data, the max latency looks pretty high, as it should be max 1 ms maybe, not >=137 ms. That is maybe why you get the warning...
To examine the disparity, you can do it in rtabmap-databaseViewer:  Show 3D view to see the resulting point cloud. You can enable the grid (right-click) to see if the...
It is possible, only thing to have is a TF representing the ground truth. You can then set the fixed and moving frames with those parameters under rtabmap node: ```xml...
Hello, The ground truth is wrong, it should be relative to a local frame and in meters / rad (starting at 0,0,0) and having all 6DOF estimated if you are...
> says for 5 seconds there is no data that was transmitted. There should be a list of topics in that warning message, please check with `ros2 topic hz `...
Hi! Yes that is possible. Is the ground mostly flat? You may use parameters like this: ``` # Note that RTAB-Map's library parameters should be "str" type parameters=[{ 'Grid/NormalsSegmentation': 'False',...
With `'Grid/3D': 'false'`, the `cloud_map` topic will be also 2D. Internally, we remove a dimension to save space when we only need 2D grid. To debug though, I usually add...
It depends on which topic you are looking at. If you look at the `/rtabmap/cloud_map` topic, yes, it is possible. Use parameter `Grid/Sensor: '2``. The other way would be to...
Testing visual odometry against a white wall is not the best. In this case VO is loosing tracking and get lost, causing a red screen: https://github.com/introlab/rtabmap/wiki/Kinect-mapping#lost-odometry-red-screens  The major problem...
It seems to work: ``` [stereo_odometry-1] [INFO] [1722114647.571042491] [rtabmap.stereo_odometry]: Odom: quality=326, std dev=0.001560m|0.000173rad, update time=0.034837s [stereo_odometry-1] [INFO] [1722114647.612182747] [rtabmap.stereo_odometry]: Odom: quality=293, std dev=0.001731m|0.008712rad, update time=0.040051s [stereo_odometry-1] [INFO] [1722114647.649321451] [rtabmap.stereo_odometry]: Odom:...