Indoor Navigation using Realsense D455

[danyal2075]

i am new using rtabmap, i have been trying for two month to create indoor map but i could not do it. i am going to share terminal screenshot, RVIZ, Rtabmap, lanuch file.
i am using ros1 neotic package and rtabmap to create map to avoid no go-areas.
i also donot get any data in database i mean map.




******* THis is my lanuch file ******

<launch>
   
    <arg name="device_type_camera1"     default="t265"/>
    <arg name="device_type_camera2"     default="d4.5"/>       
    <arg name="serial_no_camera1"     default=""/>
    <arg name="serial_no_camera2"     default=""/>
    <arg name="camera1"               default="t265"/>               
    <arg name="camera2"               default="d455"/>               
    <arg name="clip_distance"             default="-2"/>
    <arg name="use_rviz"                  default="true"/>
    <arg name="use_rtabmapviz"            default="true"/>
   

    <include file="$(find realsense2_camera)/launch/rs_d400_and_t265.launch">
            <arg name="device_type_camera1"             value="$(arg device_type_camera1)"/>
            <arg name="device_type_camera2"             value="$(arg device_type_camera2)"/>
            <arg name="serial_no_camera1"               value="$(arg serial_no_camera1)"/>
            <arg name="serial_no_camera2"               value="$(arg serial_no_camera2)"/>
            <arg name="camera1"                         value="$(arg camera1)"/>
            <arg name="camera2"                         value="$(arg camera2)"/>
            <arg name="clip_distance"                   value="$(arg clip_distance)"/>
           
    </include>

    <include file="$(find rtabmap_ros)/launch/rtabmap.launch">
            <arg name="rtabmap_args"       value="--delete_db_on_start"/>
            <arg name="depth_topic"        value="/$(arg camera2)/aligned_depth_to_color/image_raw"/>
            <arg name="frame_id"           value="$(arg camera2)_link"/>
            <arg name="visual_odometry"    value="true"/>
            <arg name="odom_topic"         value="/$(arg camera1)/odom/sample"/>
            <arg name="rgb_topic"          value="/$(arg camera2)/color/image_raw"/>
            <arg name="camera_info_topic"  value="/$(arg camera2)/color/camera_info"/>
            <arg name="queue_size"         value="200"/>
            <arg name="rviz"               value="$(arg use_rviz)"/>
            <arg name="rtabmapviz"         value="$(arg use_rtabmapviz)"/>
            <arg name="localization"        value="true"/>
    </include>
</launch>

[matlabbe]

Hi,

If you want to use T265 odometry, you should set "visual_odometry" to false, otherwise odometry with D400 will be done. Based on the T265+D435 example here, you may try to launch rtabmap like this instead:

roslaunch rtabmap_launch rtabmap.launch \
   args:="-d --Mem/UseOdomGravity true --Optimizer/GravitySigma 0.3" \
   odom_topic:=/t265/odom/sample \
   frame_id:=t265_link \
   rgbd_sync:=true \
   depth_topic:=/d455/aligned_depth_to_color/image_raw \
   rgb_topic:=/d455/color/image_raw \
   camera_info_topic:=/d455/color/camera_info \
   approx_rgbd_sync:=false \
   visual_odometry:=false \
   queue_size:=30

If you want to compute odometry with D400 camera, I suggest to use IR-Depth config instead of the color camera.

cheers,
Mathieu

[danyal2075]

Hi, i have D455 camera. could you consider this one

[matlabbe]

You can follow "RealSense D435i camera (IR-Depth)" instructions on this page for D455: http://wiki.ros.org/rtabmap_ros/Tutorials/StereoHandHeldMapping

[danyal2075]

i am having problem with when i scan a corridor because of roof piontcloud the whole path is considered an object. Do you know how to resolve it or maybe to limit field of view, How?
and one other thing those things which are hanging from wall are also not detect in the 2D occupany map
 

[matlabbe]

You can add Grid/MaxObstacleHeight parameter with some value, e.g., 1 meter.

[danyal2075]

i have been struggling with I scan a corridor to create a map of the environment using rtabmap, The issue i am facing is that when i go over the corridor and then come back, it creates an overlapping map. Anyone knows the solution please write to me!!!

another task i am struggling with is i would to create a path for my robot to define no-go areas in the map considering my robot size. it would be nice to help me with this as well

[matlabbe]

See https://github.com/introlab/rtabmap_ros/issues/1105#issuecomment-1902269943