Hey guys,
I'm struggling on trying to set up RTABMap with L515. I'm able to run it with just the visual odometry but the framerate is pretty low and odometry gets lost very easily with slight movement. It also wobbles on the spot when the sensor is stationary. I've tried including the IMU to improve the wobble but it seems like it makes it worse. Was anyone able to get RTABMap working with L515? Would love to know how it was done.
This is my launch file,
<launch>
<include file="$(find realsense2_camera)/launch/rs_l515.launch">
<arg name="enable_infra" value="true"/>
<arg name="filters" value="pointcloud"/>
<arg name="align_depth" value="true"/>
<arg name="unite_imu_method" value="linear_interpolation"/>
</include>
<node pkg="imu_filter_madgwick" type="imu_filter_node" name="imu_filter_node">
<remap from="/imu/data_raw" to="/l515/imu"/>
</node>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start"/>
<arg name="depth_topic" value="/l515/aligned_depth_to_color/image_raw"/>
<arg name="rgb_topic" value="/l515/color/image_raw"/>
<arg name="camera_info_topic" value="/l515/color/camera_info"/>
<arg name="approx_sync" value="false"/>
<arg name="imu_topic" value="/imu/data"/>
<arg name="frame_id" value="/l515_link"/>
<arg name="wait_imu_to_init" value="false"/>
</include>
</launch>
With this configuration, the IMU filter isn't outputting anything due to <remap> not working. However, when I launched the node separately it did work, and as I've said before it hasn't made any improvements.
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