Re: Hesai QT128 with Zed2i and external fused Odometry

Posted by matlabbe on Oct 02, 2023; 3:25pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9716.html

So your main issues are about ICP odometry accuracy, localization accuracy (or not able to localize), or mapping issues?

On mapping part, you could enable Grid/RayTracing=true to get unknown cells better filled. I would use also Grid/NormalsSegmentation=false with lidar like this to get better segmentation between the floor and obstacles. After mapping, you can also edit the occupancy grid in rtabmap-databaseViewer (File->edit optimized 2d map...) to remove dynamic obstacles and keep only the static ones in the final map.

On runtime, before going under the cart, you may disable (/clear) the obstacle layer in the costmap.

When you say "the robot drives under the cart" is the lidar also going under the cart? that could indeed affect icp odometry if the lidar is completely occluded.

I can speculate more about the best parameters, but if you can provide a database with an issue in it you want to address, it will be easier to give more specific suggestions.

cheers,
Mathieu