Re: (Bad 3D map) robot_localization sensor fusion imu and odom

Posted by acp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bad-3D-map-robot-localization-sensor-fusion-imu-and-odom-tp5456p5483.html

Hi Matheiu


I have tried to run

stereo version of rtabmap using  left/right images? (subscribe_stereo:=true)

 
I do not get any cloud.

I sometimes I get the following during the runing of the bag and the launch file.

[ WARN] (2019-02-13 10:47:51.015) OdometryF2M.cpp:469::computeTransform() Registration failed: "Not enough inliers 10/20 (matches=35) between -1 and 231"

[ WARN] (2019-02-13 10:47:51.017) OdometryF2M.cpp:258::computeTransform() Failed to find a transformation with the provided guess (xyz=0.177359,-0.015194,0.035369 rpy=0.012964,-0.060532,-0.031622), trying again without a guess.

Transform from fcu to base_link was unavailable for the time requested. Using latest instead.

bagfile: http://www.fit.vutbr.cz/~plascencia/left_right_ned_enu.bag

frames tree:  http://www.fit.vutbr.cz/~plascencia/frames_fcu.pdf

1.-launch file for the rosbag: zed_stereoB_fusion_bag_play.launch



2.- With this  launch file for the rosbag is working:

zed_visual_odom_true_bag_play.launch


Here is the map, which is not so bad.




 









Thank you and looking forward to your replay