Rtabmap with D435 Gazebo Simulation Delocalized

asked 2020-05-28 18:49:58 -0500

Zacks gravatar image

Hi, I am new on rtabmap_ros and VSLAM.

I am using ROS Kinetic with Gazebo 9.13 on Ubuntu 16.04 and D435 camera model from https://github.com/pal-robotics/reals..., and Rtabmap 0.19.6. I am using ground truth odometry in my simulation. I have tried to add enough texture to my simulation world, the robot still delocalized (when I move the robot around, it will go into a wrong loop closure and the robot on the Rtabmap GUI will shift to start position constantly)

I also put my robot into gazebo default "Kitchen Dinning" model to run this simulation, it still delocalizes after a bit.

I will post a screenshot later when I get enough points to upload the image. Should I add more features or change any settings? any advise is welcome, thanks.

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Can you post rtabmap configuration? You may share the images with an external link, I can then after edit your question to put them back in this post (unless an admin can give you more points to be able to attach images).

matlabbe gravatar image matlabbe  ( 2020-06-02 11:23:28 -0500 )edit