Re: implementing rtabmap_drone_example in real drone

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/implementing-rtabmap-drone-example-in-real-drone-tp10688p10694.html

In the simulator, the drone would take off from altitude 0 based on visual odometry. In the offboard node, we target an altitude of 1.5 meter. The controller would know the current altitude from the visual odometry input.

2.5 Hz odometry is too slow. You can decrease the resolution of the images if you can, or set Odom/ImageDecimation to 2 or 4. Check also that sometimes the slow rate on RPI4 is that the camera driver itself cannot handle fast frame rate, causing synchronization issues downstream.