Real implementation of rtabmap_drone_example

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Real implementation of rtabmap_drone_example

Samim-17
This post was updated on .
Hi Mathieu
I have an distance sensor which gives my drone distance from ground(z). It is published in mavros/distance_sensor/hrlv_ez4_pub. I wanted to use this data in drone for holding height constant while navigating.
Currently the offboard_node.cpp is using z from rtab.

Can I use the z data from distance sensor instead of that provided by rtabmap ? Will this create any issues while navigating and creating map using rtab ?

In px4 parameter I set it to use efk2_hgt_ref to vision.

I wanted to reduce computation complexity on rpi4 so that I use x,y instead of all x,y,z.


Is this possible after changing offboard_node.cpp code or there is need to adjust rtabmap parameters like Reg/Force3DoF ?
Can you please explain will this work? It would be lot helpful.


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Re: Real implementation of rtabmap_drone_example

Samim-17
Is there anything we could do about this?
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Re: Real implementation of rtabmap_drone_example

matlabbe
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If the drone is moving in 6DoF, setting Reg/Force3DoF to true would probably not work.

You could however use robot_localization package to fuse the parameters you want with sensors you want. You may want to only fuse twist from VO into that filter (in case there is a drift in roll or pitch).

Note however the PX4 EKF is kinda doing the same thing than robot_localization EKF filter, though maybe not as configurable. Anyway, I think any "vision pose" you send to PX4 EKF (even if coming from another EKF) will be fused again by PX4 EKF with the onboard IMU.

Note that I have never tried to fuse another source of odom, so I cannot really more than that.