Re: RTAB Map with ModalAI Starling 2

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-with-ModalAI-Starling-2-tp10269p10287.html

Hi,

You may add RGBD/CreateOccupancyGrid to false if you currently test just the pose (that will remove some warnings you see).

In that trial, was the drone moving? If so, you may check that the odom TF you are publishing is actually changing. Note also that when you republish the odom TF from the odometry topic, you should use the timestamp from the topic header, not doing another ros::Time::now().

To forward back the pose corrected by rtabmap, you may look at this example where we get at 50 Hz the latest transform between map->base_link and provide it as vision_pose for mavros.

cheers,
Mathieu