Re: scanning parameters

Posted by matlabbe on Feb 16, 2022; 1:23am
URL: http://official-rtab-map-forum.206.s1.nabble.com/scanning-parameters-tp7829p8931.html

For a more general L515 icp example, see the one on this page: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping

The IMU is used to guess orientation between frames, so that we get better visual matches. It is also used as gravity constraints in local bundle adjustment for odometry, and also in graph optimization on rtabmap side. This is a loosely coupled VIO approach.

(becaause they all are published well, I checked)

How did you check, make sure to use "rostopic hz" to see the actual rate of all topics in the warning.