Ground robot equipped with RGB, Depth, IMU, 2D lidar

[bobben]

Hi Mathieu,

We have a ground robot equipped with the following sensors:
RGB camera
Depth camera rectified and synchronized to the RGB camera
IMU synchronized to the camera
2D lidar

How would you go about 3 DOF mapping and localizing, using these sensors, for best results?

Thanks,  Bob

[matlabbe]

Do you have wheel odometry? If you check this: http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_Odometry_.2B-_2D_laser


Without wheel odometry: http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_2D_laser

[bobben]

Thank you !!!

How would you synchronize the IMU to the 2D lidar?
In which of the RTAB-Map's implementations is this synchronization important?

Best,  Yoni

[matlabbe]

Make sure the IMU clock is synchronized with same clock than lidar. RTAB-Map will interpolate IMU values against lidar's stamp in case IMU is not hardware synchronized with lidar.