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rgbd_sync node is used to combine RGB-D data into a single topic. We would use it if rtabmap is also subscribed to a scan topic.

For example, if you have a camera streaming at 30Hz with exactly syncrhonized images and a lidar publishng at 10 Hz, you don't want to approximately synchronize scan and camera images. To make sure camera images are exactly synchronized together, we use rgbd_sync (with approx_sync:=false), then approximately synchronize scan with rgbd_image topic.

If depth and RGB are not synchronized, there is still an advantage to synchronize them at 30 Hz before synchronizing with lidar at different rate.

cheers

rgbd_sync node is used to combine RGB-D data into a single topic. We would use it if rtabmap is also subscribed to a scan topic.

For example, if you have a camera streaming at 30Hz with exactly syncrhonized images and a lidar publishng at 10 Hz, you don't want to approximately synchronize scan and camera images. To make sure camera images are exactly synchronized together, we use rgbd_sync (with approx_sync:=false), then approximately synchronize scan with rgbd_image topic.topic. See Fig.6 for example: https://introlab.3it.usherbrooke.ca/mediawiki-introlab/images/7/7a/Labbe18JFR_preprint.pdf

If depth and RGB are not synchronized, there is still an advantage to synchronize them at 30 Hz before synchronizing with lidar at different rate.

cheers