matlabbe

What is the `frame_id` shown when you do: ``` rostopic echo /camera/camera/color/image_raw/header ```

Remove ``` rosrun tf static_transform_publisher 0 0 0 0 0 0 map odom 100 ``` that should not be a static transform. It is published by rtabmap node. I don't...

Most parameters can be tuned by adding parameters like this to `rtabmap_odom` nodes: ```python Node( package='rtabmap_odom', executable='rgbd_odometry', name="rgbd_odometry", output="screen", parameters=[{ # RTAB-Map parameters should all be string "OdomOpenVINS/AccelerometerNoiseDensity": "0.01", "OdomOpenVINS/AccelerometerRandomWalk":...

It looks like in your first command, there are missing "`\`": ``` ros2 launch rtabmap_launch rtabmap.launch.py \ args:="--delete_db_on_start" \ frame_id:=zed_camera_link \ odom_topic:=/zed/zed_node/odom \ visual_odometry:=false \ rgb_topic:=/zed/zed_node/rgb/image_rect_color \ depth_topic:=/zed/zed_node/depth/depth_registered \ camera_info_topic:=/zed/zed_node/rgb/camera_info...

There is a way to do that, but it is only by using UI Export 3D Clouds tool. Uncheck "Assemble clouds" here:  On exporting, select a folder then you...

Hi, 1. Probably. We support standard calibration models, matching [OpenCV's distortion parameters](https://docs.opencv.org/4.x/d9/d0c/group__calib3d.html#ga3207604e4b1a1758aa66acb6ed5aa65d). In particular: https://github.com/introlab/rtabmap/blob/6d4e8a4173533fb1340d872ce35dccb5f4ec826d/corelib/src/CameraModel.cpp#L282 * Note that if `cols=4` **and** model name is `equidistant` or `fisheye`, the [fisheye model](https://docs.opencv.org/4.x/db/d58/group__calib3d__fisheye.html#gad626a78de2b1dae7489e152a5a5a89e1)...

Something looks off in the image you shared, the stereo images don't look correctly stereo rectified as we can see vertical disparity. That would affect the quality of the point...

Hi, > 1. I feed GPS to the right topic but keep "Optimizer/PriorsIgnored": "true" because when I disable it the map gets completely misaligned. Might this be because the GPS...

It seems the remapping didn't work: ``` /camera/rgb/image_rect_color \ /camera/aligned_depth_to_color/image_raw \ /camera/rgb/camera_info ``` should be: ``` /camera/color/image_raw \ /camera/aligned_depth_to_color/image_raw \ /camera/color/camera_info ``` Can you try removing the "slashes" in the...

> In this way the hdd will be full in a few minutes!!! That should not be possible, unless your HDD is a couple of hundred of MB. Do you...