Posted by
xantho on
URL: http://official-rtab-map-forum.206.s1.nabble.com/SLAM-using-RTABMAP-tp9824.html
Hello,
I am using RTABMAP in noetic with 20.04. I get fair mapping results but I would like to improve them and work perfectly.
A few of the issues I have are:
1) it doesn't like the camera (d435i) to move at normal speed. It prefers the camera to move really slow.
Also, even if the robot stands still I get this warning:
The time difference between rgb and depth frames is high (diff=0.033357s, rgb=1701783597.300058s, depth=1701783597.333416s). You may want to set approx_sync_max_interval lower than 0.02s to reject spurious bad synchronizations or use approx_sync=false if streams have all the exact same timestamp.
This is also the output of ntpdate -q
server 192.168.10.70, stratum 3, offset 0.861476, delay 0.03094
5 Dec 15:42:11 ntpdate[3595]: step time server 192.168.10.70 offset 0.861476 sec
Any idea whats going on here?
After this problem I would like to start navigation.
The tutorials are pretty old and some settings are different for my case.
I followed these two websites:
http://wiki.ros.org/rtabmap_ros/Tutorials/StereoOutdoorNavigationand I used the yaml files from this one:
https://github.com/turtlebot/turtlebot_apps/blob/indigo/turtlebot_navigation/param/costmap_common_params.yamlfor the costmap common params what should I use for the topic:
topic: mobile_base/sensors/bumper_pointcloud?
Also do I only work in static map or can I use it also with a dynamic map as in SLAM. If I can use it in dynamic map scenario then the rtabmap node will be set to mapping instead of localization and I need a global costmap params settings for dynamic map which I haven't found online.
How should I proceed from here?
Thank you