Re: rtabmap_ros on Odroid XU4 2020

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-on-Odroid-XU4-2020-tp6557p6596.html

Hi,

The easiest way to see the 2D map is to subscribe in RVIZ to /rtabmap/grid_map.

If you are using a robot, I would use robot wheel's odometry (maybe fused with an IMU with robot_localization) for rtabmap, instead of visual odometry. Visual odometry at 160 ms per frame is quite slow, and you will have problems with textureless areas if you are indoor. Assuming a 3DoF odometry, you could then set Reg/Force3DoF=true and the 2D occupancy grid map will be always correctly created (without drift in roll/pitch orientation).

cheers,
Mathieu