Re: Lidar SLAM with loop closure
Posted by
matlabbe on
May 04, 2021; 4:10pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lidar-SLAM-with-loop-closure-tp7846p7910.html
Hi,
the
zed open capture library can help you to get Zed data (with imu) with a computer without CUDA. Note sure if a ros wrapper exists for the open capture library though. I integrated it inside rtabmap standalone.
For rtabmap node, you would have to pre-sync zed images and camera_info with rtabmap_ros/stereo_sync, then enable subscribe_scan_cloud to input the lidar. I didn't have time yet to add the examples to this page
http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot, but there is a launch file to play with different configurations of RGB-D / Velodyne / Wheel odometry with a simulated Husky:
https://github.com/introlab/rtabmap_ros/blob/master/launch/demo/demo_husky.launchcheers,
Mathieu