Re: Unable to run rgdb with OpenLoris Scene Dataset

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Unable-to-run-rgdb-with-OpenLoris-Scene-Dataset-tp7752p7870.html


Hi Valia,

1. Yes, theorically. The default rtabmap's odometry (F2M) uses the IMU in a loosely-coupled manner. For tightly-coupled VIO approaches, like OpenVINS or VINS_Fusion, you could use their package directly and use their output odometry for rtabmap node.
2. Use imu_filter_madgwick (or complementary_filter) on your merged topic, then use output of madgwick as input to rtabmap's nodes.
3. rtabmap's node don't use imu info topic.

cheers,
Mathieu