Issue related to rgbdicp odometry

[tejasva05]

Hello everyone
I have a depth camera and a lidar i want to basically fuse both the icp odometry and rgb odometry
From what i have understood from the forums and other sources that there is a thing called as rgbdicp odometry
However i have not found any related resources about its applications
Can anyone please help me to implement it or is there any other way in which I can complete the fusion?

[matlabbe]

We didn't port rgbdicp_odometry node to ROS2, as it was kind of experimental. I think the better way to fuse both would be to use robot_localization package and feed odometry topics of these two nodes (while disabling their tf with publish_tf:=false) and fuse their velocity. You may also want to disable them from publishing null poses when lost, it can be done by setting publish_null_when_lost:=false. Speaking of lost, you can set 'Odom/ResetCountdown': '1' to auto reset odom when lost.

cheers,
Mathieu

[tejasva05]

Hi Mathieu
Thank you for your reply
Also i had a very fundamental doubt regarding the Reg/strategy parameter
Let us say during simulation I am using the /odom topic from the differential drive package and while using the hardware I am planning on using rgb or icp odometry or both fused together
Does the reg/strategy depend on the odometry being used or the hardware that is present?

[matlabbe]

rtabmap node's Reg/Strategy is independent of the odometry approach used.

For rgbd_odometry node, Reg/Strategy=0 internally. For icp_odometry, Reg/Strategy=1 internally.