Re: 3D mapping with Turtlebot3 Burger and Intel Realsense D435 Camera

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/3D-mapping-with-Turtlebot3-Burger-and-Intel-Realsense-D435-Camera-tp8378p8488.html

Hi,

don't know exactly what are the differences between the r200 and d435 plugin in gazebo, but what could cause this problem is a poor synchronization between rgb and depth topics. With the d435, you may try the approx_rgbd_sync:=true to compare. However, I discourage to use approximate sync policy with RGB-D data et stereo data if possible. You could compare the stamp in the topics to see if they are exactly the same between the camera topics. I would suggest to use the R200 plugin if d435 plugin cannot provide synchronized images.

cheers,
Mathieu