rtabmap_drone_example in-depth understanding.

Posted by MidKnight on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-drone-example-in-depth-understanding-tp11048.html

Hey @matlabbe, greetings!

I want to completely understand rtabmap_drone_example's end to end pipeline and internal workings. Is there an in-depth documentation that I can refer?

1. Have you added an external source of odometry to RTAB? Or, is RTAB's odometry (ie RGBD odometry?) reliable enough?
2. Is there a flow sensor being used with PX4 for a better odometry?
3. Is Seeed studio jetson nano adequate for performing autonomous navigation as seen in the chapter 2 of the demo video? If not, what are your suggestions on a) better hardware, b) better performance on the same board with the same setup? Thanks for your response on my previous post and I need some clarification on what your recommendation meant. Did you mean to suggest those VIO methods instead of rtab in localisation mode or does it work within rtab?
4. Is there a ros2 port available? I plan to use ros2 humble with docker on the mentioned board.


Please let me know about any resources for gaining information on this, that you might be aware of.
I have referred some online, including this link.

Regards,
MidKnight.