Re: Indoor Navigation using Realsense D455

Posted by matlabbe on Jan 03, 2024; 9:05pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Indoor-Navigation-using-Realsense-D455-tp9893p9894.html

Hi,

If you want to use T265 odometry, you should set "visual_odometry" to false, otherwise odometry with D400 will be done. Based on the T265+D435 example here, you may try to launch rtabmap like this instead:

roslaunch rtabmap_launch rtabmap.launch \
   args:="-d --Mem/UseOdomGravity true --Optimizer/GravitySigma 0.3" \
   odom_topic:=/t265/odom/sample \
   frame_id:=t265_link \
   rgbd_sync:=true \
   depth_topic:=/d455/aligned_depth_to_color/image_raw \
   rgb_topic:=/d455/color/image_raw \
   camera_info_topic:=/d455/color/camera_info \
   approx_rgbd_sync:=false \
   visual_odometry:=false \
   queue_size:=30

If you want to compute odometry with D400 camera, I suggest to use IR-Depth config instead of the color camera.

cheers,
Mathieu