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rtabmap: stereo + wheel/imu odometry

asked 2015-03-17 08:31:01 -0500

vd77 gravatar image

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/Tutor... 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!

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answered 2015-03-17 10:32:19 -0500

matlabbe gravatar image

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.

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Asked: 2015-03-17 08:31:01 -0500

Seen: 836 times

Last updated: Mar 17 '15