Re: Seeking advice for merging/deskewing lidar scans from multiple 2-d lidars

Posted by Jeonghwan Park on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Seeking-advice-for-merging-deskewing-lidar-scans-from-multiple-2-d-lidars-tp10767p10769.html

Whoops missed that post. Should've found it first, sorry for duplicate questions..

Thanks for the response! So if I understand correctly, using 'rtabmap_util/lidar_deskewing' and 'rtabmap_util/point_cloud_aggregator' is similar to my approach 1, is that correct?
As I understand it those nodelets are put BEFORE the scans are fed to RTABMap, as a preprocessing step, right?

If so, I should be careful to avoid wheel slip and overly aggressive motions since the only source for motion estimation during the scan time window is wheel odometry; is this correct as well?

Thanks so much for your quick response and kindness!