Re: How to execute with RTABMAP+Realsense+ORB_SLAM 2

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-execute-with-RTABMAP-Realsense-ORB-SLAM-2-tp5760p5850.html

Hi,

The odometry panel is not used in ROS (panel is disabled and odometry parameters are not read), so the values you see are the default ones. The parameters used by rgbd_odometry node are the ones set in the launch file, rtabmapviz cannot change them or read them. In your case, ORB_SLAM2 seems correctly used for odometry:

OdometryORBSLAM2.cpp: 557 :: ORBSLAM2System () Loading ORB Vocabulary...

cheers,
Mathieu