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-tp5517p5647.html

Hi

I tried switching back to sd clouds to see if its increased (30Hz) publish rate would help at least with matching each cloud, but it has identical problems with table legs etc being reproduced multiple times. Of course, switching back to sd means the black noise is back too! This seems to suggest its not a speed issue. The help boards at kinect2_bridge and libefreenect2 are unfortunately not quite as good as this forum and I've not had any response from them, I think they only react if you are posting an actual bug rather than asking for help.

I have the new motor coming on Tuesday which will hopefully rule out odometry as a cause of bad matching. With one wheel always reporting 40 clicks more but the roboclaw module only aware of one set of clicks per turn, there is going to be a lot of error in the odometry as a matter of course, as when you set up the roboclaw node you only give it one value for QPPS and it assumes both motors are identical. At least if the two encoders agree it will be possible to determine if that is having any influence.

Is it worth also tweaking some actual rtabmap settings that influence the way the clouds overlay on one another?