Re: Hesai QT128 with Zed2i and external fused Odometry

Posted by matlabbe on Sep 12, 2023; 12:54am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9680.html

For the timestamp channel, rtabmap is expecting the time offset from the header's stamp. If the timestamp is an actual timestamp (independently of the header stamp), then the code would need to be updated to not use it like a time offset.

The deskewing in rtabmap_util or rtabmap_odom is using the same code. You don't need to enable it for rtabmap_odom if it has been already done externally with rtabmap_util (and the deskewed cloud is used for rtabmap_odom). The reason we provide both is that one could want the raw deskewed point cloud as input to another node, for this rtabmap_util would be used. In another scenario, one could do it in rtabmap_odom if the raw deskewed cloud is not required by any other node.

For rtabmap node, you would either subscribe to output of rtabmap_util or the post-processed cloud from rtabmap_odom.

By default rtabmap_odom deskew parameter is false.