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-tp5517p5527.html

I now believe it may be an odometry issue. I noticed that one of my wheel encoders produces clicks in the ratio of 0.93 to the other. If I command them both to move a set number of clicks, one wheel always moves slightly more than the other. This also seems to translate into a tendency to veer to one side when a simple "drive forward" command is issued.

I have tuned the PID using the motion control studio program for the roboclaw, but this has no effect on the offset.

I am talking to the manufacturer to find out how to fix this, but in the meantime I am going to try using visual odometry. In order to do so, do I simply change the launch file to reflect visual odometry = true, and then modify the motor driver node to stop publishing odometry? Does anything need to be altered in this part of the launch file?

      <!-- Basic RTAB-Map Parameters -->
      <param name="database_path"       type="string" value="$(arg database_path)"/>
      <param name="frame_id"            type="string" value="robot_footprint"/>
      <param name="odom_frame_id"       type="string" value="odom"/>
      <!--param name="subscribe_depth"     type="bool"   value="true"/-->
      <param name="subscribe_scan"      type="bool"   value="true"/>
     <param name="subscribe_odom"      type="bool"   value="true"/>
      <param name="visual_odometry"      type="bool"   value="true"/> <!--changed this to true-->
      <param name="odom_topic"      value="/odom"/>
          <param name="RGBD/NeighborLinkRefining" type="string" value="true"/>
          <param name="RGBD/ProximityBySpace"     type="string" value="true"/>
          <param name="RGBD/AngularUpdate"        type="string" value="0.01"/>
          <param name="RGBD/LinearUpdate"         type="string" value="0.01"/>
          <param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
          <param name="queue_size" type="string" value="20"/>

Apologies for the frequent posts, I am working on this daily to get it fixed!

EDIT: Nope, no dice. I remapped the name of the roboclaw topic to /roboclaw/odom in its launch file, then set visual_odometry to true in the rtabmap file. I am assuming it was then using visual odometry? The 2D ground map as before seems to generate ok but the same issue with the rgbd, it just does not seem to want to work. Same choppy images and does not seem to track with the ground map as the robot moves.

Am beginning to lose hair over this, any help you can give would be massively appreciated :D