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-tp5456p5655.html

Hi Mathieu


I have recorded a ros bag that contains the following topics among the camera tf as you suggested :)

/stereo_camera/left/image_raw_color
/stereo_camera/left/image_rect_color

/stereo_camera/right/image_raw_color
/stereo_camera/right/image_rect_color

The bag is: http://www.fit.vutbr.cz/~plascencia/outdoor_tf_zed_enable.bag

Bytheway, I have ploted in a single plot the following topics:

1.  /stereo_camera/odom
2. /stereo_camera/rtabmap/odom
3. /odometry/filtered
4. /mavros/local_position/odom

As you can see in the following two pictures:






Just wondering why are shifted and rotated?

If you take a look for instance,

/mavros/local_position/odom

 is completely rotated and shifted also the other ones.

Here I show you the in

RVIZ

  the comparison between

/mavros/local_position/odom

  and

/stereo_camera/rtabmap/odom

The white trajectory is

/mavros/local_position/odom

 whereas the color one is

/stereo_camera/rtabmap/odom

AND.......................... ONE MORE QUESTION :)


I am planning to make a small mission planner using qgroundcontrol, since the drone will be flying, what shall be way to record data for the rtabmap.

I was thinking that in the normal way i record the bag file :)

Could you kindly give me your opinion?

Thank you very much.