Re: Velodyne VLP16 in RTab map

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Velodyne-VLP16-in-RTab-map-tp10892p11054.html

With ROS, we can easily use IMU (which is recommended) with lidar. See this example: https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_examples/launch/lidar3d.launch.py, either provide imu_topic and/or a fixed_frame_id which could be your pixhawk odom frame.

Note however that as soon ICP fails, you could still get lost. You could enable auto odom reset with Odom/ResetCountdown=1, which would reset icp_odometry to last known pose and try register next lidar scans from there.