Re: About rtabmap with jetson agx xavier

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-rtabmap-with-jetson-agx-xavier-tp8779p8783.html

It depends what you want to map and what you want to visualize (note that you can opt-out 3D point cloud in rtabmapviz->Preferences->3DRendering to save visualization time). rtabmapviz is also not required, you can launch rviz instead and subscribe only topics you want.

If you have external odometry (wheel encoders) maybe fused with IMU, and mapping in 2D with a 2D lidar, rtabmap can run on a RPI3 (and will actually run faster with less memory than gmapping). For RGB-D SLAM, we have examples of rtabmap running on RPI3 but at lower rate (slow).

On smaller computers, to do 6DoF mapping, it is preferred to use external odometry (like a fast VIO approach, wheel encoders/IMU or even "computational free" VIO from T265) than using rtabmap's odometry that may use 100% of one CPU. You may do visualization only offboard on another computer.

Regards,
Mathieu