Assuming they have the same sensor/camera, you may run the same config on both robots. Run a mapping session independently on each robot. To merge the maps together, you would need to make sure that the drone lands or takes off from an area that the rover can map (ideally with very similar point of view), so that a loop closure can be detected between the two mapping sessions.
I started working on your advice and using the inbuilt iris model of PX4. I am using the same config file. I just change the base_link and the required topics. However, I am not being able to decide what should go in the odom_frame_id and remaps for the odom. I am getting the following error. I have attached my code. Any suggestions would be appreciated. Thanks.
[ WARN] [1705695384.541636748, 870.586000000]: /rtabmap/rtabmap: Did not receive data since 5 seconds! Make sure the input topics are published ("$ rostopic hz my_topic") and the timestamps in their header are set. If topics are coming from different computers, make sure the clocks of the computers are synchronized ("ntpdate"). If topics are not published at the same rate, you could increase "queue_size" parameter (current=10).
/rtabmap/rtabmap subscribed to (approx sync):
I used the stereo/odom. However, there are no messages publishing. I am using the PX4 iris model and I am using the same config file of Stereo B. I have the following topics being published. I have a model for rover and the drone. I was thinking there should be different config file for the drone. Please let me know if I am wrong because I am using the same "demo_stereo_outdoor.rviz" config file. I am stuck in this problem for so many days. Your help would be appreciated.
$ rostopic list
I was not passing the correct topics while doing remaps. Instead of using " /stereo/left/image_raw ". I was using " stereo/left/image_raw" so that rtabmap/stereo/left/image_raw was expected, which was not publishing. Thanks for your help.