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You can also try icp_odometry with the rplidar.

For visual odometry, if you are using rtabmap prior to 0.20.9, add --GFTT/MinDistance 7 --Vis/CorGuessWinSize 40 parameters. For D435 camera, to get the best visual odometry, use the IR left and right images with stereo_odometry instead of rgbd_odometry. IR cameras have larger field of view and almost no motion blur, thus a lot more robut visual odometry.

You can also try icp_odometry with the rplidar.rplidar, in particular with wheel odometry as guess.

For visual odometry, if you are using rtabmap prior to 0.20.9, add --GFTT/MinDistance 7 --Vis/CorGuessWinSize 40 parameters. For D435 camera, to get the best visual odometry, use the IR left and right images with stereo_odometry instead of rgbd_odometry. IR cameras have larger field of view and almost no motion blur, thus a lot more robut visual odometry.odometry. See stereo realsense example here: http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping