Hi sir,
While running the following launch file:
<launch>
<arg name="output" default="screen"/>
<arg name="subscribe_scan" default="true"/>
<arg name="scan_topic" default="/scan"/>
<arg name="odom_topic" default="odom"/>
<arg name="publish_tf_odom" default="true"/>
<arg name="imu_topic" default="/imu/data"/>
<arg name="rviz_cfg" default="$(find rtabmap_ros)/launch/config/rgbd.rviz" />
<group ns="rtabmap">
<node pkg="nodelet" type="nodelet" name="rgbd_sync" args="standalone rtabmap_ros/rgbd_sync" output="screen">
<remap from="rgb/image" to="/camera/color/image_raw"/>
<remap from="depth/image" to="/camera/aligned_depth_to_color/image_raw"/>
<remap from="rgb/camera_info" to="/camera/color/camera_info"/>
<remap from="rgbd_image" to="rgbd_image"/>
</node>
<node pkg="rtabmap_ros" type="icp_odometry" name="icp_odometry" output="$(arg output)" args="$(arg rtabmap_args) " >
<remap from="scan" to="$(arg scan_topic)"/>
<remap from="odom" to="$(arg odom_topic)"/>
<remap from="imu" to="$(arg imu_topic)"/>
</node>
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<remap from="odom" to="odom"/>
<remap from="scan" to="/scan"/>
<remap from="rgbd_image" to="rgbd_image"/>
</node>
</group>
<node pkg="rviz" type="rviz" name="rviz" args="-d $(arg rviz_cfg)"/>
<node pkg="nodelet" type="nodelet" name="points_xyzrgb" args="standalone rtabmap_ros/point_cloud_xyzrgb" output="$(arg output)">
</node>
</launch>
The following warnings are received:[ WARN] (2021-03-14 05:28:52.059) OdometryF2M.cpp:164::OdometryF2M() OdomF2M/BundleAdjustment=1 cannot be used with registration not done only with images (Reg/Strategy=1), disabling bundle adjustment.
[ WARN] [1615692533.418470914]: We are receiving imu data (buffer=5), but cannot interpolate imu transform at time 1615692533.058735. IMU won't be added to graph.
Does it mean that no bundle adjustment is done ?
Is the loop closure relying on images? lidar? both?
Why isn't the IMU added to graph?
Thank you a lot for your support!!
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