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-tp10688p10815.html


You can also try msckf_vio package directly if it makes it easier to debug or make sure issues you could see are not related to rtabmap integration.

You should be able to use infra left and right. Make sure to disable IR emitter if you do so.

If you get "Make sure IMU is published faster than data rate! (last image stamp=1735366937.850737 and last imu stamp received=1735366937.843248). Buffering the image until an imu with same or greater stamp is received.", the approach (or any VIO approaches) may not work properly. What i the frame rate of the IMU? I would expect that IMU delay is always smaller than the the camera delay, so if IMU data received after image, there is something wrong about the driver.