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-tp5456p5686.html

Hi,

1. The camera intrinsics are related to camera_info message data. For the extrinsics (IMU -> camera), those would be published manually on TF with maybe a static_transform_publisher.

2. The px4's EKF2 is configured with GPS+IMU? You may had a visual odometry to EKF2. For the 3D Map, it depends on which odometry topic rtabmap node is subscribing. Ideally, you would want to have rtabmap and px4 subscribing on same visual odometry topic. I am not used to that kind of hardware, so it is difficult more me to say more details, you may refer to how people are using mavros with visual odometry.

3. If you navigate with GPS+IMU using QGroundControl, you may record a rosbag on the side to test SLAM afterwards offline.

cheers,
Mathieu