Re: Some issue with rtabmap_drone_example

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Some-issue-with-rtabmap-drone-example-tp10628p10640.html

Hi,

With a real camera, they have often parameters to change the default resolution. You may want to use the lowest resolution to have a fast visual odometry with lowest latency.

For that warning, you can ignore it if it just appearing sometimes. It means gazebo could not publish rgb and depth exactly at the same time for some reason (sometimes it is just a simulation lag).

The code in this example (for rtabmap parts) can be used almost "as is" (maybe need some remaps if topics have different names between simulation and actual robot) on a real drone. This code has been converted (minimal working example) from a pretty similar close-source code we had for a real custom drone using a PX4 Cube Orange (that drone, using lidar odometry instead of visual odometry, but connections to mavros/px4 are the same).

The TF tree looks okay.

I think you can safely ignore these roswtf warning/errors.

cheers,
Mathieu