Re: RTAB-Map stereo odometry inaccurate with ZED2i vs ZED

Posted by aryckman on Feb 10, 2023; 3:16am
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-stereo-odometry-inaccurate-with-ZED2i-vs-ZED-tp9316p9335.html

Hello Mathieu,
Thank you for looking at this. My prior post was incorrect again (sorry) we had the ZED wrapper odometry on for some reason so that was publishing odom -> base_link instead of RTAB-Map. Using RTAB-Map with ZED1 does perform better than the ZED2i.

I was able to borrow a different ZED2i and conducted the same tests as above on it. This new ZED2i is extremely reliable, performing just as well as the ZED1, which leads me to believe we have a ZED2i hardware/firmware issue.

Thanks again for your assistance, I will let you know if we continue to have issues.