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-tp6456p6957.html

You can show the costmaps in RVIZ to debug if there is an obstacle on the robot. Is the map published by rtabmap looking good? If the robot detects itself with the camera, for local costmap you may check if there is a minimum range parameter, otherwise you may have to filter the clouds before sending them to move_base. For rtabmap, there is a Grid/RangeMin parameter and also Grid/FootprintHeight, Grid/FootprintLength and Grid/FootprintWidh parameters to setup a footprint to filter.

cheers,
Mathieu