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-tp8779p8866.html


If you have a lidar, you can enable lidar refining with "RGBD/NeighborLinkRefining=true" and "Reg/Strategy=1", this will help to correct orientation drift your are seing coming from your wheel odometry, as seen in this example.

rtabmap node itself doesn't compute odometry. The Odometry box in the schema can be any odometry input. In rtabmap_ros package, we provide rgbd_odometry, stereo_odometry and icp_odometry nodes for convenience, but you can also plug wheel odometry + IMU fusion. We can also combine icp_odometry with wheel odometry for more robustness like in this example (though in some cases the first example above with lidar refining would give similar results at a significantly lower computation load).

cheers,
Mathieu