Posted by
sDeboffle on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5674.html
Hi,
I think I miss something.
first, there is 2 times "/tango/camera/color_1/camera_info \" in the rosbag command you ask me to test. Is that nomal?
My procces:
I launch lidar command first, then I launch this command, and ros tango streamer on the phone:
rosrun rtabmap_ros pointcloud_to_depthimage \
cloud:=/tango/point_cloud \
camera_info:=/tango/camera/color_1/camera_info \
_fixed_frame_id:=start_of_service \
_decimation:=8 \
_fill_holes_size:=5
then I execute:
rosrun tf static_transform_publisher 0 0 0.04 1.57079632679 3.14159265359 0 device Lidar 100
here is how I publish device -> Lidar transform
Like you ask, I don't launch rtab-map, so I assumed I didn't have to execute this previous command:
roslaunch rtabmap_ros rtabmap.launch \
rtabmap_args:="--delete_db_on_start --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2" \
visual_odometry:=false \
odom_frame_id:="start_of_service" \
frame_id:="device" \
rgb_topic:=/tango/camera/color_1/image_raw \
depth_topic:=/image \
camera_info_topic:=/tango/camera/color_1/camera_info \
compressed:=true \
depth_image_transport:=raw \
approx_sync:=true \
rgbd_sync:=true \
approx_rgbd_sync:=false \
subscribe_rgbd:=true \
subscribe_scan_cloud:=true \
scan_cloud_topic:=/Lidar/points
But I think there is a mistake. I don't define tango phone as "device" since I don't execute this command.
So I retry today with this command , so rtab-map launched but on "Pause". Here the result:
https://wetransfer.com/downloads/01556f72eba5e8be1ee1a38d91be5ced20190318152415/0bf08101592d6516b2252094a1483f7320190318152415/153f4eBy watching several time your video, it's seem to have a delay between device and lidar transform. Lidar follow the same path than device, but with 1 sec delay.
where is my mistake?
How can we deal with this delay?
thank you