Posted by
Mikor on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Is-this-the-way-to-use-lidar-IMU-efficiently-tp7496.html
Hello,
I am using the data pulled from kitti sequence 0117 with kitti2bag and here is the information that the bag contains.
path: kitti_2011_09_26_drive_0117_synced.bag
version: 2.0
duration: 1:08s (68s)
start: Sep 26 2011 15:40:43.44 (1317040843.44)
end: Sep 26 2011 15:41:51.59 (1317040911.59)
size: 3.5 GB
messages: 9240
compression: none [2641/2641 chunks]
types: geometry_msgs/TwistStamped [98d34b0043a2093cf9d9345ab6eef12e]
sensor_msgs/CameraInfo [c9a58c1b0b154e0e6da7578cb991d214]
sensor_msgs/Image [060021388200f6f0f447d0fcd9c64743]
sensor_msgs/Imu [6a62c6daae103f4ff57a132d6f95cec2]
sensor_msgs/NavSatFix [2d3a8cd499b9b4a0249fb98fd05cfa48]
sensor_msgs/PointCloud2 [1158d486dd51d683ce2f1be655c3c181]
tf2_msgs/TFMessage [94810edda583a504dfda3829e70d7eec]
topics: /kitti/camera_color_left/camera_info 660 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_left/image_raw 660 msgs : sensor_msgs/Image
/kitti/camera_color_right/camera_info 660 msgs : sensor_msgs/CameraInfo
/kitti/camera_color_right/image_raw 660 msgs : sensor_msgs/Image
/kitti/camera_gray_left/camera_info 660 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_left/image_raw 660 msgs : sensor_msgs/Image
/kitti/camera_gray_right/camera_info 660 msgs : sensor_msgs/CameraInfo
/kitti/camera_gray_right/image_raw 660 msgs : sensor_msgs/Image
/kitti/oxts/gps/fix 660 msgs : sensor_msgs/NavSatFix
/kitti/oxts/gps/vel 660 msgs : geometry_msgs/TwistStamped
/kitti/oxts/imu 660 msgs : sensor_msgs/Imu
/kitti/velo/pointcloud 660 msgs : sensor_msgs/PointCloud2
/tf 660 msgs : tf2_msgs/TFMessage
/tf_static 660 msgs : tf2_msgs/TFMessage
I am interested in using only the lidar + imu data and I want to learn how to do that efficiently as the title says. At this time all I do is run rtabmap.launch with the following parameters.
roslaunch rtabmap_ros rtabmap.launch \
use_sim_time:=true \
depth:=false \
subscribe_scan_cloud:=true \
frame_id:=base_link \
scan_cloud_topic:=/kitti/velo/pointcloud \
imu_topic:=/kitti/oxts/imu \
scan_cloud_max_points:=131072 \
icp_odometry:=true \
approx_sync:=false \
args:="-d \
--RGBD/CreateOccupancyGrid false \
--Rtabmap/DetectionRate 2 \
--Odom/ScanKeyFrameThr 0.8 \
--OdomF2M/ScanMaxSize 10000 \
--OdomF2M/ScanSubtractRadius 0.5 \
--Icp/PM true \
--Icp/VoxelSize 0.5 \
--Icp/MaxTranslation 2 \
--Icp/MaxCorrespondenceDistance 1.5 \
--Icp/PMOutlierRatio 0.7 \
--Icp/Iterations 10 \
--Icp/PointToPlane false \
--Icp/PMMatcherKnn 3 \
--Icp/PMMatcherEpsilon 1 \
--Icp/Epsilon 0.0001 \
--Icp/PointToPlaneK 0 \
--Icp/PointToPlaneRadius 0 \
--Icp/CorrespondenceRatio 0.01"
This parameters are taken from this
post . In order to add the IMU data I added the imu_topic and it seems to give slightly better results so I guess that the IMU data are included.
My questions are the following.
I think that this is the way to subscribe to the imu topics that the bag contain. Did I understand this correctly ?
Also, I need some more info about the ICP parameters, can you point me somewhere in order to do so ?
I am new to rtabmap and ros in general, every information that will help me improve my understanding will be much appreciated. Thank you in advance.