Re: Combining multiple instances of RTABMAP

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Combining-multiple-instances-of-RTABMAP-tp9555p9566.html

Hi,

One idea could be to use stereo_odometry with front camera data in base_link frame, and feed it to one rtabmap instance using RGB-D data of the back camera. Do you really need a stereo rtabmap instance?

Depending of the computation power available, you may even try doing one stereo_odometry with the two camera stereo streams, and one rtabmap subscribing to that odometry and both RGB-D data streams from the front and back cameras. In that mode, the IR emitter would need to be disabled on both cameras.

The problem of having two rtabmap instances at the same time using same Tf tree is that `map`->`odom` will be likely be different from the back and front, and two `map` frames would be published at the same time for same child frame (if one or the other is not disabled), which will create errors in TF.

cheers,
Mathieu