Re: 3D mapping cloud map for localization and 2D grid map for global costmap

Posted by Princemjp on
URL: http://official-rtab-map-forum.206.s1.nabble.com/3D-mapping-cloud-map-for-localization-and-2D-grid-map-for-global-costmap-tp7363p7422.html

Hi matthieu,

Thanks for all the help and i apologise again if im asking too much as im new to all things ros

The odometry finally used by rtabmap published on /rtabmap/odom is the odometry from icpodometry which is done purely by lidar point matching correct?

My wheel encoders are publishing odometry on the topic /odom do i just need to remap odom to /odom on rtabmap node if i want to combine wheel odometry with my rtabmap?

Also i have an imu that is publishing on /imu_data on imu_link which the transform is just a static transform from velodyne --> imu_link what should i do with this launch file if i wanted to include the imu, because im not sure what the fixed_frame_id --> frame_stabilised and base_frame --> frame_id and guess_frame_id is meant to be


My transforms are currently

Map --> Odom --> base_footprint --> base_link --> velodyne --> imu_link

Map --> odom --> base_footprint (provided by rtabmap)

Base_footprint --> base_link --> velodyne --> imu_link (provided by static transforms)

Velodyne is off the ground by 1.8meters

Because when i do mapping of large areas my map would drift in the Z axis which causes the map to be not aligned so i was hoping adding the wheel odometry and imu will help with this, my current fix is enabling slam_2D but certain areas there are slopes and elevation so i am unable to keep using a 2D map

Or will adding a realsense D435i to this velodyne setup be good?