Re: Rtabmap mapping with two cameras

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-with-two-cameras-tp2662p2762.html

Hi,

I prefer using only robot wheel odometry in our environment, as there are a lot of white walls (no visual features to track) and its odometry is okay. You have choice to use visual odometry (rtabmap_ros/rgbd_odometry or any other visual odometry packages) or odometry from the robot. To combine them, I will refer you to robot_localization package, which uses an Extended Kalman Filter.

For code modifications, it will be easier to see the changes if you fork the github project and change it on your side (even send a pull request). Note that you can use master branch (all latest changes) on Indigo. The indigo-devel branch is updated only when there is a new ROS binary release (so the indigo-devel branch matches the current released ros-indigo-rtabmap).

cheers,
Mathieu