Re: Problems with launch and mapping

Posted by denzle on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Problems-with-launch-and-mapping-tp6808p7188.html

Wow!! The after images looks amazing! May i ask the process you went through to obtain the neighbour links. Am i right in sliding the neighbour links bar and refining when i find a good match?

I'm currently testing the d415, d455 and t265 in stand-alone rtabmap as i just need to get some viable forest data together because my supervisors are breathing down my neck. The realsense map was a multi session of three walk arounds (same day) with the d415. I did try again two days ago at the same spot with the d455 and t265 but the outputs were a bit naff and my system kept freezing and crashing. So i'm working through where i went wrong with settings and how to sort out the interpolations you mentioned.

Whilst i am trying to get some lidar data together with Rtab-ros. The final goal will be rgb-d/lidar fusion but i'm going back to basics with each working separately to then have another go at getting a working launch file and fusion data once i've gotten a better grip of parameters and changes i need to make. So the amendments you mentioned will be most helpful ie timestamps and static transforms.

It has been one steep learning curve, i'm an ecologist and dont really have a background in computer/robotics science.

I'll be going out tomorrow to re-test the lidar after a few tweeks hopefully i'll have some decent outputs.

Many thanks
Dan