Re: Hesai QT128 with Zed2i and external fused Odometry

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9522.html


Hi,

To use only wheel encoders + IMU with rtabmap node (no icp odometry), you may use that launch file and remove icp_odometry part. For deskewing, you may use the filtered odometry frame instead, then plug the output deskewed cloud topic to rtabmap node.

cheers,
Mathieu