Re: Hesai QT128 with Zed2i and external fused Odometry
Posted by aninath93 on Oct 27, 2023; 6:40pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9728.html
Hi Mathieu,
Thank you for continuingly answering questions, I did create map and its attached below, if I asked too many questions in this post, I apologize.
1. I would appreciate if you can advise any more optimization so map could be more better ?
Databse and launch file
I did notice, when I switch to stereo mode for ZED2i, the map does not display in rviz, I have to export using rtabmap-databaseviewer after mapping session is over.
2. I would like to export posses from your databaseviewer which I saw option for, and save it my own database against other parameters to send it to Nav2 based on current pose, is that the right way to do this ? I see to add label in rtabmapviz for current location in mapping mode but is there any other way to add labels to map in rviz or after map is created because a pose could be nearby but not as accurate ?
3. To go under the cart I was thinking to use lane follower using opencv and clear global costmap and disable obstacle layer on Nav2, is that a good approach in your experience ?
URL: http://official-rtab-map-forum.206.s1.nabble.com/Hesai-QT128-with-Zed2i-and-external-fused-Odometry-tp9512p9728.html
Hi Mathieu,
Thank you for continuingly answering questions, I did create map and its attached below, if I asked too many questions in this post, I apologize.
1. I would appreciate if you can advise any more optimization so map could be more better ?
Databse and launch file
I did notice, when I switch to stereo mode for ZED2i, the map does not display in rviz, I have to export using rtabmap-databaseviewer after mapping session is over.
2. I would like to export posses from your databaseviewer which I saw option for, and save it my own database against other parameters to send it to Nav2 based on current pose, is that the right way to do this ? I see to add label in rtabmapviz for current location in mapping mode but is there any other way to add labels to map in rviz or after map is created because a pose could be nearby but not as accurate ?
3. To go under the cart I was thinking to use lane follower using opencv and clear global costmap and disable obstacle layer on Nav2, is that a good approach in your experience ?
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