Re: Some issue with rtabmap_drone_example

Posted by Samim-17 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Some-issue-with-rtabmap-drone-example-tp10628p10632.html

first I tried rtabmap.launch. But after this I tried slam.launch and found the following



In the terminal I am still getting this error

[ INFO] [1730577498.409939033, 120.660000000]: Odom: quality=412, std dev=0.000271m|0.000173rad, update time=0.180671s
[ WARN] (2024-11-03 01:43:18.437) RegistrationVis.cpp:690::computeTransformationImpl() Vis/DepthAsMask is true, but RGB size (1080x1920) modulo depth size (720x1280) is not 0. Ignoring depth mask for feature detection.
[ INFO] [1730577498.631603191, 120.774000000]: Odom: quality=412, std dev=0.000100m|0.000173rad, update time=0.194843s
[ WARN] (2024-11-03 01:43:18.641) Memory.cpp:4881::createSignature() Mem/DepthAsMask is true, but RGB size (1920x1080) modulo depth size (1280x720) is not 0. Ignoring depth mask for feature detection (Mem/ImagePreDecimation=1).
[ WARN] (2024-11-03 01:43:18.658) RegistrationVis.cpp:690::computeTransformationImpl() Vis/DepthAsMask is true, but RGB size (1080x1920) modulo depth size (720x1280) is not 0. Ignoring depth mask for feature detection.
[ INFO] [1730577498.792125604, 120.789000000]: Odom: quality=434, std dev=0.000684m|0.000173rad, update time=0.133699s
[ WARN] (2024-11-03 01:43:18.796) RegistrationVis.cpp:690::computeTransformationImpl() Vis/DepthAsMask is true, but RGB size (1080x1920) modulo depth size (720x1280) is not 0. Ignoring depth mask for feature detection.

I changed the r200 camera to d435 for my purposes. And the extra thing I did was transformed frames

rosrun tf static_transform_publisher 0 0 0 0 0 0 D435_camera_color_optical_frame D435_cameracolor 100

When I tried to run offboard the drone does not hold, altitude goes on increasing and crashes.
Is there any problem in this last steps of adding new camera ? Also my tf tree doesnot have base_link_stabilized. Will it be of issue ? Generally the r200 simulation runs good on my pc too