Re: Troubleshooting mapping with kinect v2, rplidar and jetson tx2

Posted by Ross_L on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Troubleshooting-mapping-with-kinect-v2-rplidar-and-jetson-tx2-tp5517p5526.html

Here's the re-upload, apologies as I loaded the wrong one before. Its zipped as was a couple of hundred megabytes

https://drive.google.com/file/d/1FgIwR79r_L2iemRPTBJrCTycsxv7fzXo/view?usp=sharing

It seems that the live display in rviz makes things look even worse, and when you redownload the graph and map, or view in database viewer, there is a small improvement. As you can see though there is still a lot of alignment issues and the black smearing / noise, some of which appears to relate to the differing FOV of the depth and RGB cams (I think).

I really would love to get this bot mapping properly :)

Cheers

EDIT: Whilst I think about it, I am pretty sure that my URDF reflects the robot, as most of the parts were made in CAD and 3D printed, including the drive wheels which have rubber tyres, petg hubs and lathe-turned aluminium couplings. In terms of odometry, I am not using any fancy ros-control stuff, its just the odometry being fed from the motor encoders, to the roboclaw, and then via roboclaw-ros node to the /odom topic.

There is a caster at the front of the bot, the type that swivels.