visual odometry and robot_pose_ekf

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visual odometry and robot_pose_ekf

osmancns
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I want use to visual odometry for robot_pose_ekf.
robot_pose_ekf :
 
<nabble_embed><launch> <node pkg="robot_pose_ekf" type="robot_pose_ekf" name="robot_pose_ekf"> <param name="output_frame" value="odom"/> <param name="freq" value="30.0"/> <param name="sensor_timeout" value="1.0"/> <param name="odom_used" value="true"/> <param name="imu_used" value="true"/> <param name="vo_used" value="true"/> <param name="debug" value="false"/> <param name="self_diagnose" value="false"/> </node> </launch></nabble_embed>



I will use rtabmap's visual odometry (rgbd_odometry).  
But robot_pose_ekf need vo topic like that :


my question is :

<remap from="odom" to="vo"/>

to add this line in odometry launch file  (https://github.com/introlab/rtabmap_ros/blob/master/launch/tests/test_odometry.launch )
is enough for robot_pose_ekf vo topic. ???? ( I tried and odometry launch working but ı am not sure)

or how can I publish vo topic ???


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Re: visual odometry and robot_pose_ekf

matlabbe
Administrator
Hi,

To use only the visual odometry node from rtabmap, you can simply use it like this in a launch file (based on topics sent by openni_launch or freenect_launch):
 <node pkg="rtabmap_ros" type="rgbd_odometry" name="visual_odometry" output="screen">
        <!-- Inputs -->
  	<remap from="rgb/image"       to="camera/rgb/image_rect_color"/>
        <remap from="rgb/camera_info" to="camera/rgb/camera_info"/>
  	<remap from="depth/image"     to="camera/depth_registered/image_raw"/>

        <!-- Output -->
	<remap from="odom" to="vo"/>
    
        <!-- Fixed frame of the camera (can be also /base_link or /base_footprint) -->
  	<param name="frame_id" type="string" value="camera_link"/>
  </node>

The "vo" input of robot_pose_ekf is a nav_msgs/Odometry type, so yes you can connect directly the ouput of rgbd_odometry (here remapped to "vo" for convenience) to robot_pose_ekf.

cheers,
Mathieu
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Re: visual odometry and robot_pose_ekf

osmancns
In reply to this post by osmancns
working and result is so good. I am sure now, thank you so much .
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Re: visual odometry and robot_pose_ekf

Masoumeh
In reply to this post by matlabbe
sorry mattieu,

Can we use icp odometry while we have visual odometry? Or we should deactivate icp when we use VO?
I have activated ICP before, now I activated camera as well, but i cannot see any related topic for VO.

I want to give this visual odometry as a input to the robot-localization.
Now I confused between ICP-odometry and Visual odmetry, what are the related topics?

thanks