Re: RTAB map with vins Fusion

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-map-with-vins-Fusion-tp6111p6126.html

Hi,

Can vins_estimator be configured to do only VIO (without relocalization)? External odometry should not contain relocalization to be compatible with rtabmap. The base frame (frame_id) from vins_estimator may be different than one used by rtabmap. What Tf are published by vins_estimator? What contains /vins_estimator/odometry topic?

Another approach to use VINS as odometry in rtabmap is to build rtabmap with VINS-FUSION support (vins would need to be built with this patch so that cmake can find it when build rtabmap). After that, we can select it like in this example:

$ roslaunch rtabmap_ros rtabmap.launch \
   rtabmap_args:="--delete_db_on_start --Odom/Strategy 9 --OdomVINS/ConfigPath ~/stereo_imu_config.yaml --Mem/UseOdomGravity true --Optimizer/GravitySigma 0.3" \
   depth_topic:=/camera/aligned_depth_to_color/image_raw \
   rgb_topic:=/camera/color/image_raw \
   camera_info_topic:=/camera/color/camera_info \
   approx_sync:=false \
   frame_id:=camera_link

Note that assuming you are using VIO, we can set Mem/UseOdomGravity to true and Optimizer/GravitySigma so that graph is optimized accordingly to gravity on loop closures.

cheers,
Mathieu