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-tp5517p5543.html

Thanks for taking a look at the database!

Can you explain where the "Icp/MaxCorrespondenceDistance" value belongs please? This is my current launch file:

rtabmap.launch

I will confess to being confused with all the many parameters and sub modules! I see "Icp/MaxCorrespondenceDistance" has something to do with Icp odometry, is this the same thing that has been set to true with the

<param name="visual_odometry"      type="bool"   value="true"/>

line, and so is just an added parameter line, or should I be separately launching icp odometry somehow? If so where would that appear in my current launch file please?

Additionally, for the robot's launch file, I followed a reply from you on the forum here that said for the kinect2_bridge node, the "approx_sync" parameter should be false as kinect2_bridge has synced images. Is this correct? I do not know of a reason why my rgb and depth images should be out of sync when rotating, I am turning the robot extremely slowly using the xbox360 teleop.

I have switched to map frame but am sadly still getting ghosted images.

I have also switched over to an old gaming laptop with an older i7 as the tx2 just could not keep up with the qhd. However even though when I use rostopic hz on the laptop, all the depth streams etc are publishing fine with almost no "no new messages", when doing to same from the client computer I am getting frequent "no new messages" and after a minute or so, the map just stops updating. Is it possibly a network issue?

Using qhd does seem to have corrected the black spots though! Thank you