Re: Outdoor Localization error while running zed-ros-examples using zed2i camera

Posted by impressivetoken on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Outdoor-Localization-error-while-running-zed-ros-examples-using-zed2i-camera-tp9773p9815.html

Hi again,

I tried running the commands for localization as you asked me to,

"roslaunch rtabmap_launch rtabmap.launch \
   rtabmap_args:="--Vis/CorFlowMaxLevel 5 --Stereo/MaxDisparity 200 --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2" \
   stereo_namespace:=/zed/zed_node \
   right_image_topic:=/zed/zed_node/right/image_rect_gray \
   stereo:=true \
   visual_odometry:=true \
   frame_id:=base_link \
   imu_topic:=/zed/zed_node/imu/data \
   wait_imu_to_init:=true \
   localization:=true \
   use_sim_time:=true"

It was working great when i used the bag file for it, there was a localization in almost every frame as you said.

As you know i want this in real time, i made a few simple changes in the command you suggested

roslaunch rtabmap_launch rtabmap.launch    rtabmap_args:="--Vis/CorFlowMaxLevel 5 --Stereo/MaxDisparity 200 --Mem/ImagePreDecimation 2 --Mem/ImagePostDecimation 2 --RGBD/OptimizeMaxError 10"    stereo_namespace:=/zed2i/zed_node    right_image_topic:=/zed2i/zed_node/right/image_rect_gray    stereo:=true    visual_odometry:=true    frame_id:=base_link    imu_topic:=/zed2i/zed_node/imu/data    wait_imu_to_init:=true    localization:=true
(After launching the zed2i cam)

And tried running the same thing in real time for localization.
There is a screen recording i have uploaded in the one drive link i have sent you by the mail the other day for the bag files.

I feel like i am doing something very wrong which is very silly.

Please help me out here.