Real implementation of rtabmap_drone_example

Posted by Samim-17 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Real-implementation-of-rtabmap-drone-example-tp10828.html

Hi Mathieu
I have an distance sensor which gives my drone distance from ground(z). It is published in mavros/distance_sensor/hrlv_ez4_pub. I wanted to use this data in drone for holding height constant while navigating.
Currently the offboard_node.cpp is using z from rtab.

Can I use the z data from distance sensor instead of that provided by rtabmap ? Will this create any issues while navigating and creating map using rtab ?

In px4 parameter I set it to use efk2_hgt_ref to vision.

I wanted to reduce computation complexity on rpi4 so that I use x,y instead of all x,y,z.


Is this possible after changing offboard_node.cpp code or there is need to adjust rtabmap parameters like Reg/Force3DoF ?
Can you please explain will this work? It would be lot helpful.