Re: rtabmap ros2 zed2i

Posted by hoffer on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros2-zed2i-tp10335p10384.html

Just an update to the above post and for anyone else trying to get things working with a ZEDx camera providing VIO for rtabmap_slam... I was able to reduce these loop closure rejections and stay localized with the following zed params (as well as Mathieu's suggested RTAB settings above).

Zed
pos_tracking_enabled: true
pos_tracking_mode: "GEN_1" # GEN_2 did not  work well for me
area_memory: false # to prevent loop closure detections
sensors_image_sync: true # Synchronize Sensors messages with latest published video/depth message