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-tp6456p6978.html
Hello Mathieu,
Thank you very much for your advice , rviz is really friendly for debug and I managed to make it move playing with inflation radius and footprint size ! Regarding obstacles avoidance I used a small black table ( the d435 is placed 20 cm over the flat part of the table) and I found that :
- The table is black and the camera doesn't see it
- Covering it with a colored drape, if the robot start at least 50 cm far can see on time and avoid it , but if it is closer and start ( for example after a rotate_recovery ) it crash on the obstacle without hesitation ; I think that it is a problem in thelimited FOV of the camera and when it is close to a plane obsracle the segmentation take it like the ground.
Is there rtabmap or costmap setting that can resolve these issues , maybe ? I tried to reduce decimation and modify many Grid params but there is no change : Obstacles nodelet detect only the small pointcloud of the frontal edge of the table (legs) and not its flat part
I have tried also with the standalone d435i :
- Your Handheld Mapping with the Madgwick filter
- The approach with robot localization that you setup in
https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/sensor_fusion.launchWith both of them I had good mapping results but iat very low speed, ia faster movement make lose the odometry.
The only modification I made is (for 2d differential robot) is
param="odom0_config">[true, true, false,
false, false, true,
true, false, false,
false, false, true,
false, false, false]
param="imu0_config">[false, false, false,
false, false, true,
false, false, false,
false, false, true,
true, false, false]
And two_d_mode = true
Could you give advices about tuning VIO parameters ?
Thank you for your help and your patience !
Gian