Re: Mapping with both drone and rover issues

Posted by williamwordsworth on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-with-both-drone-and-rover-issues-tp9953p10206.html

To tackle the issue of the drone and rover appearing as obstacles in each other's maps, it's practical to map the world with the rover first without launching the drone, and then map the same area with the drone separately. This ensures each vehicle does not interfere with the other's mapping process. After completing the individual mappings, you can combine the maps using software or algorithms that support map merging. To modify the launch file for mapping with both the rover and drone in one RViz instance, ensure that the drone and rover are publishing their data in separate namespaces to avoid conflicts. Create a combined launch file that includes the necessary nodes for both vehicles, and run only one instance of RViz configured to display data from both namespaces. Use a map merging node or algorithm to integrate the mapping data from both the drone and rover into a single cohesive map. Additionally, configure RViz to visualize data from both vehicles by setting up different topics for map, point cloud, and other relevant data streams.

For improving the accuracy and quality of your integrated mapping project, I recommend using **drone GCP** (Ground Control Points) markers. These markers provide precise reference points on the ground, ensuring accurate georeferencing and alignment of the combined maps. Utilizing **drone GCP** markers will enhance the precision and reliability of your final map, providing professional-grade results.