Re: implementing Rtab_map on a robot which has lidar and odometer

Posted by Masoumeh on
URL: http://official-rtab-map-forum.206.s1.nabble.com/implementing-Rtab-map-on-a-robot-which-has-lidar-and-odometer-tp7503p7680.html

Dear Mattieu,

before running rtabmap, i have these topics:
rostopiclist_before_running_rtabmap.png


rostopiclist_before_running_rtabmap1.png

after running rtabmap, i have the following topics:
I receive the following topics:rostopiclist1.png
rostopiclist2.png

I have also a number of queries:
1)what is lidar3d_ray_tracing ?what does it provide us?

2) why do we consider "icp_odometry" in a false mode? when this parameter can be in a true mode? (why I caanot use this parameter when I have only lidar3d?)

3) it seems the error that I sent to you before comes from this line (    <arg unless="$(arg icp_odometry)" name="odom_topic" value="/odometry/filtered" />), I have also changed this  "/odometry/filtered" topic into "/odom" topic, but again I have error from /odom\ .

one more question:
why after running rtabmap, I have both
/odom
/odometry/filtered
and
/velodyne/velodyne_points
/velodyne_points
????

Thanks in advance
Masoumeh