two odometry sources: which frame is child?
I have two odometry inputs: from wheels and from visual odometry camera (Intel Realsense t265).
Visual odometry camera t265 uses wheel odometry as input, so I only need t265 odometry for slam.
I have two odometry frames:
- odom - frame of wheel odometry
- t265odomframe - frame of t265 camera odometry
Also I have t265poseframe which is under t265odomframe.
The problem is that I dont know where to place these odometry frames.
Maybe like this:
map -> t265_odom_frame -> odom -> t265_pose_frame -> base_footprint -> ...
?
Asked by june2473 on 2020-01-22 04:15:01 UTC
Comments
I would say neither is child nor parent. With multiple sources of odometry, it's customary to fuse them into a single estimate using packages like
robot_localization
or others.Asked by gvdhoorn on 2020-01-22 05:23:01 UTC
but it's already fused, t265 odometry uses wheel odometry as input. You mean I should remove wheel odom frame?
Asked by june2473 on 2020-01-23 03:49:46 UTC
If it's already fused then you could indeed consider ignoring the wheel odometry.
Asked by gvdhoorn on 2020-01-23 05:08:00 UTC