Bad map with D435i

[aled96]

Hi,

I am working on a simulated D435i realsense camera and the result is this one:


What is wrong ?

My launch file is the following:


 <node pkg="imu_filter_madgwick" type="imu_filter_node" name="ImuFilter">
       
       
       
        <remap from="/imu/data_raw" to="/T265/T265_camera/accel/sample"/>
    </node>

    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
        <arg name="frame_id" value="pelvis"/>
        <arg name="args" value="--delete_db_on_start"/>
        <arg name="rgb_topic" value="/D435i/D435i_camera/color/image_raw"/>
        <arg name="depth_topic" value="/D435i/D435i_camera/depth/image_rect_raw"/>
        <arg name="camera_info_topic" value="/D435i/D435i_camera/color/camera_info"/>
        <arg name="depth_camera_info_topic" value="/D435i/D435i_camera/depth/camera_info"/>
        <arg name="rtabmapviz" value="false"/>
        <arg name="rviz" value="true"/>
    </include>

    <include file="$(find robot_localization)/launch/ukf_template.launch"/>
   
   
   
    <rosparam param="/ukf_se/odom_config">[true,true,true,
                                            true,true,true,
                                            true,true,true,
                                            true,true,true,
                                            true,true,true]
    </rosparam>
   
   
   

   
    <rosparam param="/ukf_se/imu_config">[false, false, false,
                                           true,  true,  true,
                                           true,  true,  true,
                                           true,  true,  true,
                                           true,  true,  true]
    </rosparam>
   
   
   


Thank you very much for your help !

[matlabbe]

Hi,

Not sure what are the inputs you are fusing in the UKF (is it wheel odometry and IMU?). As visual_odometry is not false for rtabmap.launch, visual odometry is also computed.

cheers,
Mathieu

[aled96]

Hi,

I changed the code to this:

<node pkg="imu_filter_madgwick" type="imu_filter_node" name="ImuFilter">
        <param name="use_mag" type="bool" value="false" />
        <param name="_publish_tf" type="bool" value="false" />
        <param name="_world_frame" type="string" value="enu" />
        <remap from="/imu/data_raw" to="/T265/T265_camera/accel/sample"/>
    </node>

    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
        <arg name="frame_id" value="pelvis"/>
        <arg name="args" value="--delete_db_on_start --Grid/3D false --Grid/RayTracing true"/>  <!-- delete_db_on_start -->
        <arg name="rgb_topic" value="/D435i/D435i_camera/color/image_raw"/>
        <arg name="depth_topic" value="/D435i/D435i_camera/depth/image_rect_raw"/>
        <arg name="camera_info_topic" value="/D435i/D435i_camera/color/camera_info"/>
        <arg name="depth_camera_info_topic" value="/D435i/D435i_camera/depth/camera_info"/>
        <arg name="rtabmapviz" value="false"/>
        <arg name="rviz" value="false"/>
        
        <arg name="publish_tf_odom" value="false"/>
        <arg name="odom_frame_id" value="fixed_frame"/>   <!-- odom_frame_id on Kinetic, odom on Melodic -->
    </include>

    <include file="$(find robot_localization)/launch/ukf_template.launch"/>
    <param name="/ukf_se/frequency" value="300"/>
    <param name="/ukf_se/base_link_frame" value="pelvis"/>
    <param name="/ukf_se/odom" value="rtabmap/odom"/>
    <rosparam param="/ukf_se/odom_config">[true,true,true,
                                            true,true,true,
                                            true,true,true,
                                            true,true,true,
                                            true,true,true]
    </rosparam>
    <param name="/ukf_se/odom_relative" value="true"/>
    <param name="/ukf_se/odom_pose_rejection_threshold" value="10000000"/>
    <param name="/ukf_se/odom_twist_rejection_threshold" value="10000000"/>

    <param name="/ukf_se/imu" value="/imu/data"/>
    <rosparam param="/ukf_se/imu_config">[false, false, false,
                                           true,  true,  true,
                                           true,  true,  true,
                                           true,  true,  true,
                                           true,  true,  true]
    </rosparam>
    <param name="/ukf_se/imu_differential" value="true"/>
    <param name="/ukf_se/imu_relative" value="false"/>
    <param name="/ukf_se/use_control" value="false"/>