Re: (Bad 3D map) robot_localization sensor fusion imu and odom

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Bad-3D-map-robot-localization-sensor-fusion-imu-and-odom-tp5456p5668.html

Hi,

It is difficult to see which trajectory is the better one. As you are flying outdoor, I think it would be nice to setup a GPS RTK to get an accurate trajectory to compare too. It will be a lot easier to debug afterwards. For the mavros estimation stuff, I am not familiar with that, you may ask on mavros github.

It depends what is required to fly to follow waypoint, is rtabmap required to get a pose for mavros? Can you just do mavros IMU+GPS planning ignoring the camera data? For rtabmap, to process the bag afterwards, you need at least the RGB+Depth images or Left/Right images (with corresponding camera_info).

cheers,
Mathieu