Re: Comparison between realsense D435 vs T265 vs T265+D435 dual setup

Posted by gian on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-tp6456p6866.html

Hi Mathieu,
 
I have setup the mapping  with T265+D435 (VIO odometry from T265 and Ir/depth from D435) following the steps in :

http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping

My robot base is an IRobot Create Roomba.
Now I want to implement the navigation using  move_base.
I would ask you some questions about it. Sorry if my questions aren’t well posed , I am beginner in this field , struggling to get my hands dirty with hardware and Rtabmap.

1) What should be the correct odom_topic to feed in  move_base ?  

/t265/odom/sample or /rtabmap/localization_pose ? And  map_topic  /rtabmap/grid_map or  /rtabmap/proj_map ?

2) Is it meaningful to use the /scan from depthimage_to_laserscan during map and navigation ( in addition to RGBD and VIO provided by D435 and T265 ) to make the system more robust ?

3) How Rtabmap modify the values in the costmap using the pointcloud from depth camera ?

4) How should result the tf tree of the robot ? Mine is

map→t265 odom frame-> t265 pose frame → t265 link  (robot base link  and d400_camera_link are child of the t265_link)

Thanks in advance for your help !