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-tp10628p10637.html

Just wanted to give some updates. I was able to succesfully run the offboard command and the drone was stable.
But the RTAB map terminal showed no loop hypothesis picture or say it was black. I was able to give 2d pose estimate using rviz but the drone is crashing after hitting wall. I set the 2d pose estimate to go inside room but the drone crashes into wall.

In the slam.launch terminal this following warning shows

[ WARN] (2024-11-03 02:40:51.298) 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] [1730580951.703194422, 203.828000000]: Odom: quality=315, std dev=0.003015m|0.014651rad, update time=0.408359s
[ WARN] (2024-11-03 02:40:51.803) 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] [1730580952.198990333, 203.921000000]: Odom: quality=310, std dev=0.003132m|0.013634rad, update time=0.397915s
[ WARN] (2024-11-03 02:40:52.238) 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 am also running this. can it be creating the issue ?
rosrun tf static_transform_publisher 0 0 0 0 0 0 D435_camera_color_optical_frame D435_cameracolor 100