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-tp5456p5672.html

Hi Mathieu,


Thank you for your answer.

Well,


1.-  The idea now is to build up a 3D map for drone localization and navigation. And since you have mentioned in one post  that the   robot_localization config is not good, the imu is poorly synchronized with the camera and/or TF between imu and camera is wrong.

I have done  camera and imu calibration using kalibr  https://github.com/ethz-asl/kalibr/wiki/camera-imu-calibration


I have used /mavros/imu/data_raw and not /mavros/imu/data. I hope it is ok :)

The calibration is here: http://official-rtab-map-forum.206.s1.nabble.com/file/n5559/camchain-imucam-homeacpcatkin_wskalibr-cdedynamicsdata.yaml

Do you know how to set the calibration into the sensor fusion launch file????


2.-  If I use Qgroundcontrol station in a mission waypoint flight mode, I do not think I may need camera data. But if I want to used the 3D rtabmap map I may need the camera data.


3.- If I want to record a bagfile using a real drone flight, what do you recomend? So far I have taken the drone in my hands and simulate a flight :)


4.- I am planning to use qground control station to have a following way point autonomous mission  and record data as usual.