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-tp9512p9529.html

Hi,

I don't know if FLOAM supports 128 rings. The number 0->2 are corresponding to some pre-defined models from floam. Would have to check their code to know if 128 rings model is supported. On rtabmap side, this should be modified to set 128 for number 3.

aninath93 wrote

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 ) ?

I don't know the full context, unless you have a safety lidar that estops as soon there is an obstacle under a fixed distance or the lidar is seeing the cart (not the free space under the cart), not sure why you would need to disable the lidar.

To convert ros1 launch files to ros2, well I didn't have time to do that. ros2 launch files can be found here and here (vlp16 demo here, you may compare with the ros1 example). Note that when my new projects will work on ros2 (currently still mostly working with ros1), I may add more ros2 examples over time.

Note also that on ROS 2, you may not be able to build rtabmap with floam.

cheers,
Mathieu