rtabmap: stereo + wheel/imu odometry
Hey everyone! I need to launch rtabmap with a stereocamera (NOT kinect!). I also have odometry from other sources (imu and wheel odometry). I want to use the latter to enhance the quality of stereo registration and mapping.
As shown in the link http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot it is possible to use kinect + other odometry source. However, for the stereocamera, there are no examples of how to use outer odometry.
My question is, is that possible, and if it is, how I I do it? Your replies are much appreciated!
Asked by vd77 on 2015-03-17 08:31:01 UTC
Answers
Yes it is possible, take a look at the 3.7 Stereo B section of your link above. You need to combine your odometry sources before connecting it to rtabmap (the blue link with nav_mgs/Odometry). The blue links over rtabmap node are used for loop closure detection and to generate the 3D point cloud.
Asked by matlabbe on 2015-03-17 10:32:19 UTC
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