Re: RGB-D SLAM example on ROS and Raspberry Pi 3

Posted by David on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-SLAM-example-on-ROS-and-Raspberry-Pi-3-tp1250p3750.html

Hi Mathieu,

Thank you very much for your fast reply. I managed to complete the remote mapping tutorial to limit the bandwidth. For the navigation stuff I will better take a look to those navigation tutorials, thanks for guiding me.

Just a little question concerning the mapping. Our robot setup is a differential robot driven by steppers motors from an Arduino using the AccelStepper library and the wheels speed commands are sent by the RPi3 using i2c. So we don't have odometry from encoders but we have an IMU giving us only the orientation of the robot. What would be the best configuration to integrate the IMU values to improve odometry for mapping (and finally navigation) using rtabmap ?.  Do you think that the laser_scan_matcher (http://wiki.ros.org/laser_scan_matcher) could be an option ?

Thanks again for the help