Re: How rtabmap completes visual odometry and imu fusion ？

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-rtabmap-completes-visual-odometry-and-imu-fusion-tp9033p9059.html

Hi,

If you think that your lidar will be able to see always walls in the environment, you may use also icp_odometry instead of visual odometry, with IMU, you could look at this example:
http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#A2D_laser_.2B-_Wheel_Odometry_as_guess

In your launch, if you don't use EKF, is it better?

Beware that if you use EKF, you need to disable TF from rgbd_odometry with publish_tf=false. For rtabmap node, you would also want to explicitly remap odom topic used by rtabmap to use the one from EKF (odometry/filtered).

You may also use a madgwick filter to compute the quaternion of he imu msg, then only fuse the orientation (possibly differential) in EKF.

cheers,
Mathieu