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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Comparison-between-realsense-D435-vs-T265-vs-T265-D435-dual-setup-tp6456p6869.html

Hi,

1. /t265/odom/sample for odom, /rtabmap/grid_map for the global costmap (/rtabmap/proj_map is deprecated, it is actually the same than grid_map to keep backward compatibility).
2. If you want a 2D map, it will use less computation power feeding the scans for mapping. However, it depends if you want to detect 3D obstacles or not.
3. For general usage of rtabmap with move_base, see http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot. There is also a config here where we used obstacles_detection nodelet point cloud outputs for the local costmap.
4. it looks ok. See also this tutorial where we used external VIO (attached to phone's frame) for turtlebot.

cheers,
Mathieu