Navigation with rgbd camera only

[hhcxx2006]

Hi, I want to navigate with rgbd camera only by using rtabmap. To be specific, I want to use realsense d435 to do this. What should I do? I can not find any materials about this topic. Hope someone can help me. Thanks a lot!

[matlabbe]

To use D435 with rtabmap, see http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping

For general navigation, see http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot

[hhcxx2006]

Hi, Thank you for your reply. Many Thanks.

I want to use pure rgbd camera to navigate. Is it ok?

I want to use visual odometry to navigate and find that the rgbd_odometry node is very slow. The publishing rate of visual odom is only around 5 HZ. The move_base node shows some warnings and the navigation can not work. How can I solve this problem? Is it possible to increase the publishing rate of odom? The speed is too slow, will it affect the navigation performance?

[matlabbe]

What kind of computer are you using?

To increase VO speed with a faster estimation approach (though not as accurate), see http://wiki.ros.org/rtabmap_ros/Tutorials/Advanced%20Parameter%20Tuning#Increase_Speed