Re: Hesai QT128 with Zed2i and external fused Odometry
Posted by
matlabbe on
Oct 01, 2023; 10:00pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9714.html
aninath93 wrote
I will appreciate if you can please glance my launch file for any further parameter optimizations which I would have missed from the parameter list. I do not have any bag or issue, just hypothetical case consideration.
I cannot suggest parameters if the application is not explicit.
aninath93 wrote
Also in localization mode, can most of the arguments be ported over from mapping ones which I have currently in setup for setting localization/mapping modes ?
yes
aninath93 wrote
While using external Apriltag_ros library externally, does Marker detection parameters play any role ?
no
aninath93 wrote
Also how does these tags be saved as labels in RTAB-Map map, Meaning while sending pose to go to, can it be referred to that landmark location for sending goal pose like area1, area2 etc ?
they appear as a negative id node. Note that tag 0 is ignored. Tag 1 will have node id -1 and so on.
aninath93 wrote
Also Can I use Kp/DetectorStrategy = 10 and Vis/FeatureType=10 for loop closures with my current setup as I am using stereo mode for better accuracy on loop closure ?
You can use any features
aninath93 wrote
question: Why would we need octomap vs occupancy grid for navigation stack (Nav2) (is it better to use octomap in 2D planar environment for moving people so it can clear objects in localization phase, meaning mapping with static environment ) ?
In localization mode, the map from rtabmap will be static. Not sure about nav2, but in nav1, you could have a global costmap to handle dynamic obstacles over the static map.
aninath93 wrote
For saving map, is it just terminating the rtabmap and its saved to database and then when in localization mode, remapping map topic should get populated from database and project map ?
yes
aninath93 wrote
Can you please share your views on this constantly moving environment.
Do you mean that there are dynamic objects around that move over time/days? In dynamic environment, you may need remapping at some point, as localization performance would decrease over time.
aninath93 wrote
Ultimately I want to integrate with full Nav2 stack and Rtab-map.
There is an example here:
https://github.com/introlab/rtabmap_ros/tree/ros2#example-with-turtlebot3
aninath93 wrote
Any input on previous post will be appreciated.
If you want to be one of the first message I take time to answer, please ask 1 question at a time, and be specific and with enough context to answer, otherwise I'll put the question in the backlog and answer someday when I have more time...