Re: Error when run rtabmap_ros on Nao robot
Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-when-run-rtabmap-ros-on-Nao-robot-tp5110p5145.html
Hi,
I ran again the db with odom (on left) and with recomputing visual odometry (VO, on right), here are the differences:
Odom poses:
As the cloud map with VO seems correct, the error would be coming from Nao's odometry. You may want to use VO instead and make sure the robot is navigating always in the environment with visual features in sight.
cheers,
Mathieu
URL: http://official-rtab-map-forum.206.s1.nabble.com/Error-when-run-rtabmap-ros-on-Nao-robot-tp5110p5145.html
Hi,
I ran again the db with odom (on left) and with recomputing visual odometry (VO, on right), here are the differences:
Odom poses:
VERTEX_SE3:QUAT 1 -0.014821 -0.042794 0.328887 0.019437 -0.001512 0.010566 0.999754 VERTEX_SE3:QUAT 4 0.017673 0.014843 0.321162 0.007263 0.083460 -0.067739 0.994180 VERTEX_SE3:QUAT 5 0.004120 -0.034643 0.312733 0.003894 -0.016783 0.077755 0.996824 VERTEX_SE3:QUAT 6 0.104585 -0.018804 0.313240 0.018442 0.007071 0.077293 0.996813 VERTEX_SE3:QUAT 8 0.207153 0.014679 0.313886 0.001545 -0.010961 0.076299 0.997024 VERTEX_SE3:QUAT 9 0.218968 0.024380 0.314038 -0.002430 0.006558 0.241268 0.970433 VERTEX_SE3:QUAT 10 0.205878 0.034067 0.314157 -0.002371 0.002109 0.320750 0.947159 VERTEX_SE3:QUAT 13 0.203086 0.036657 0.314035 -0.007530 0.007364 0.469115 0.883074 VERTEX_SE3:QUAT 14 0.194632 0.035410 0.314101 0.000690 0.004492 0.543298 0.839528VO poses:
VERTEX_SE3:QUAT 1 0.000000 0.000000 0.000000 0.000000 0.000000 0.000000 1.000000 VERTEX_SE3:QUAT 4 0.047466 0.003567 -0.009966 -0.013537 0.112741 -0.011342 0.993467 VERTEX_SE3:QUAT 5 0.015019 -0.022147 -0.015365 0.002945 -0.020956 -0.055522 0.998233 VERTEX_SE3:QUAT 6 0.120729 -0.028245 -0.022842 0.013800 0.027280 -0.011168 0.999470 VERTEX_SE3:QUAT 8 0.225036 -0.011868 -0.000275 0.006574 -0.027281 0.013149 0.999520 VERTEX_SE3:QUAT 9 0.230639 -0.000577 -0.011600 -0.014138 -0.001122 0.165710 0.986073 VERTEX_SE3:QUAT 10 0.218711 0.001877 -0.009298 -0.007840 0.004223 0.250492 0.968078 VERTEX_SE3:QUAT 13 0.224081 0.008963 -0.015470 -0.038566 -0.012594 0.386984 0.921194 VERTEX_SE3:QUAT 14 0.220637 -0.014765 -0.006043 -0.016738 0.025084 0.483956 0.874573
As the cloud map with VO seems correct, the error would be coming from Nao's odometry. You may want to use VO instead and make sure the robot is navigating always in the environment with visual features in sight.
cheers,
Mathieu
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