Re: SLAM using RTABMAP

Posted by matlabbe on Dec 16, 2023; 5:43pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/SLAM-using-RTABMAP-tp9824p9863.html

Hi,

for the time diff warning, can you can a flat 30 Hz on all topics with your computer? Which config do you use with D435i? I recommend to not use the RGB camera, but left IR + depth instead with IR emitter disabled. An example of that can be found on this page: RealSense D435i camera (IR-Depth)

For navigation, I'll suggest to look at the Turtblebot3 example instead as the outdoor stereo one is more a use case in slightly more complex context: http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebot

The usual way that people uses a SLAM package is to create (teleop or exploration) a static map using SLAM mode then switch to localization-only during autonomous navigation when the roobt is actually doing tasks. To handle dynamic obstacles, you may use the local/global costmaps of move_base.

cheers,
Mathieu