| ROS Resources: Documentation | Support | Discussion Forum | Index | Service Status | ros @ Robotics Stack Exchange |
My rtabmap is having a very hard time with keeping track of orientation during both localization and mapping. I'm wondering if there is any easy way to feed in IMU data so that the direction of gravity can help orient the images and produce better results. That is, I'm wondering if I can associate orientation data with every frame such that it improves rtabmap's SLAM capabilities.
Related topics:
As mentioned in one of these posts, robot_localization package could be used to do a loosely sensor fusion of IMU and visual odometry. The launch file sensor_fusion.launch is a simple example combining Kinect+IMU with rtabmap.
cheers
HI! I was just checking this sensor_fusion.launch and is it correct to assume that it is just combining position information from odom0 and orientation information from imu0 (if argument imu_ignore_acc is set)? wouldnt be better to set true the orientation parameters of odom0_config? rookie question
Asked: 2016-11-14 18:32:47 -0500
Seen: 3,904 times
Last updated: Nov 15 '16
ROS Answers is licensed under Creative Commons Attribution 3.0 Content on this site is licensed under a Creative Commons Attribution Share Alike 3.0 license.
