Re: Hesai QT128 with Zed2i and external fused Odometry

Posted by aninath93 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9526.html

Hi Mathieu,

Thank you for the reply, I appreciate you.  I should have mentioned in my previous post and hopefully after this post I will be able to go in development phase and will clear all my doubts.

Can I use FLOAM approach with ICP odometry with my filtered odometry frame (IMU + encoders) from robot localization package to the Odom topic ? and in this case the floam_sensor " <arg name="floam_sensor" default="0"/>" should be set to 3 as its 128 rings correct (QT128) and this set to "<arg name="floam"    default="false"/>" true ?

Also , anything suggestion to just go under the cart with my robot and come out the other side to latch on (thinking of disabling lidar and driving straight but anything you can advise in your experience ) ?

Also is there any python launch file incorporating above parameters (icp with floam and using robot localization into odom) porting over to ros2 or can the above file from ros1 be still reference with latest 0.21.1 build to create   ?
Any input on this from you would be appreciated.

Regards
Ani