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-tp9512p9696.html

Thank you Mathieu, I appreciate you and your response.

Apologies for asking questions but just trying to understand more on the exact point timestamp and trying to make it work,
point timestamp = (current_frame_firing_time_stamp - header.stamp.timestamp[0] ?
OR if I use the SDK actual timestamp, can I make it work somehow on Rtabmap by altering code in a tightly coupled way ?

Or do you have a velodyne ros2 bag in archive which I can use for reference purposes as that should be close to float64 and should answer my questions and clear my doubts on this pointstamp  ?

Also, is it better to start with ICP odometry from 128 beam LIDAR or use Zed2i with VINS-Fusion or ORB-SLAM3 and feed it to slam for accuracy purposes, if you have tested them prior or have any datasets ?

Also, this will be for mapping launch file, giving grid map and 3d point cloud, for final localization, do I just need to add localization = true, in the same launch file by adding Nav2 bt navigator tree ?  

Thanks
Ani