Dear people.
I have a Jetson tx2 and a ZED camera. I have installed ros kinetic and rtabmap-ros and ZED-SDK-2.2 and a PixHawk mini.
A launch file has been created base on a existing ones from zed-ros, rtabmap-ros.
I want to create an outdoor 3D map for localization and navigation.
There is a ZED launch file that can be used to create 3D maps, for this the ZED driver delivers the transformation map-odom. I have used this to create a decent map, but it fails when I give turns.
My RTABMAP node looks like this:
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start" />
<arg name="rgb_topic" value="/stereo_camera/$(arg rgb_topic)" />
<arg name="depth_topic" value="/stereo_camera/$(arg depth_topic)" />
<arg name="camera_info_topic" value="/stereo_camera/$(arg camera_info_topic)" />
<arg name="depth_camera_info_topic" value="/stereo_camera/$(arg depth_camera_info_topic)" />
<arg name="frame_id" value="$(arg camera_frame)" />
<arg name="approx_sync" value="false" />
<arg name="visual_odometry" value="false" />
<arg name="odom_topic" value="/stereo_camera/odom" />
</include>
However, I am now trying to make a 3D map using the GPS readings from the PixHawk. I have disabled the transformation from the ZED (/map->/odom) and also (/mavros/local_position/tf/send) and (/mavros/global_position/tf/send)
I want to use visual odometry to create the transformation (/odom->/base_link) and the rtabmap to create the transformation (/map->/odom). For this I need to feed the /odom topic in the visual odometry and in rtabmap.
From the /mavros I get the following topics.
<remap from="odom" to="/mavros/global_position/local"/>
<remap from="odom" to="/mavros/local_position/odom"/>
Which transformation is (/map->base_link)
The questions are:
1.-How can I feed the odom topics to create a good 3D maps?
I am looking forward to your replay.
Locked
