Some issue with rtabmap_drone_example

[matlabbe]

For the vslam/nav parts, they could be used "as is" on the drone. For the px4 controller, you may have to enable vision pose in EKF filter, using those parameters: https://github.com/matlabbe/rtabmap_drone_example/blob/3055aea3a69da6c8acc0177c4c9c386578df38d5/config/1099_iris_rtabmap#L11-L12 (they can be set from QGroundControl if I remember well)


The "as is" may be not if the computation power is not the same. To work properly, visual odometry should wotk at least at >10Hz. To make it work on rpi4, you may need to reduce out image size of the camera, or increase "Odom/ImageDecimation" for visual odometry node.

The TF tree looks fine, the static transform publisher should be okay, you may check if the move_base is throwing any warnings/logs.

For the global planner, you should be try any that is compatible with move_base.

If you want to use RRT in 3D, you may need to use the OctoMap output of rtabmap node to be able to plan in 3D. I don't have an example to do so.

cheers,
Mathieu

[Samim-17]

Thanks for the help Mathieu. Just a simple question, is this using px4flow for maintaining constant altitude or some other sensors ? or it's just IMU ?

[matlabbe]

I think the altitude is given by visual odometry in that case.