Re: Livox Avia, + Depth cameras and organized point clouds.

Posted by matlabbe on Dec 15, 2022; 3:22am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Livox-Avia-Depth-cameras-and-organized-point-clouds-tp9200p9242.html

Hi,

For the CoreWrapper error, which topic did you set to rtabmap node? See https://github.com/introlab/rtabmap_ros/blob/7b2c6354c63f1dff7872406ef88907d0c722c0df/launch/tests/test_velodyne_d435i_deskewing.launch#L144

You can rostopic echo the imu topic you linked and see if there is a quaternion, otherwise debug upstream.

For the
"  /rtabmap/odom \
   /camera/color/image_raw \
   /camera/color/camera_info \
   /rtabmap/assembled_cloud
"
warning, check if they are published, if not check upstream nodes.

For the last error for lidar_deskewing, you are not feeding a PointCloud2 topic to it. Note that lidar_deskewing has been tested only with ring-like lidars like Ouster and Velodyne. It may not work for other kind of lidar.

cheers,
Mathieu