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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Livox-Avia-Depth-cameras-and-organized-point-clouds-tp9200p9250.html

In that example, the imu output of D435i only contain acceleration and gyro data. rtabmap needs orientation, so we need to compute it. The orientation can be computed with madgwick node.

When I launch D435i camera node (like in that launch file), you get D435i imu topic on `/camera/imu`. We feed `/camera/imu` to madgwick filter as its input `imu/data_raw` (remap). The madgwick output `imu/data` is remapped to `/camera/imu/filtered`. `/camera/imu/filtered` is fed to imu_to_tf node, which will create a stabilized TF. That TF is used for lidar deskewing, but also for icp_odometry guess transform. `/camera/imu/filtered` is also fed to rtabmap node for gravity constraints.