Implementation of rtabmap_drone_example

[rba132]

So I had a drone project where I had to implement such that drone navigates through only a particular border just like a small box within a room , and it should not go beyond the boundary (the box) , but while I am trying to implement the world in the gazebo implementation such as the drone is not getting enough visual features ....etc , so i need an idea on how to implement  , like main approach was to create this such a way that the drone goes through the edges of the box tries to fix the boundary and as it finish making the boundary it maps its insodes knowing that it has localise , making sure that the drone does not go through outside (how can i implement this on gazrbo or rtabmap ) . and it tries to find the depth data and finds the suitable location within the border by verifying the suitable depth data making sure its flat . so how can i do that ?

[matlabbe]

Can you have a screenshot of your current environment? To use visual odometry, the environment should have enough visual features. Ideally, use a 3D scan of the environment and import it to gazebo, similar to example https://github.com/matlabbe/rtabmap_drone_example.