wrong mapping after activating visual-odometry

[Masoumeh]

hi everyone,

I have rgbd-camera, 3d lidar, wheel odometer, imu and rtkgps. i have activated visual odometry:

  <arg name="navigation"   default="true"/>
  <arg name="localization" default="false"/>
  <arg name="icp_odometry" default="false"/>
  <arg name="rtabmapviz"   default="false"/>
  <arg name="camera"       default="true"/>
  <arg name="lidar2d"      default="false"/>
  <arg name="lidar3d"      default="true"/>
  <arg name="lidar3d_ray_tracing" default="true"/>
  <arg name="slam2d"       default="true"/>       
  <arg name="depth_from_lidar" default="false"/>

  <arg     if="$(arg lidar3d)" name="cell_size" default="0.2"/>
  <arg unless="$(arg lidar3d)" name="cell_size" default="0.05"/>
 
   
  <arg if="$(arg lidar2d)" name="lidar_args" default="--Reg/Strategy 1 --RGBD/NeighborLinkRefining true --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0"/>
  <arg if="$(arg lidar3d)" name="lidar_args" default="--Reg/Strategy 0 --RGBD/NeighborLinkRefining true --ICP/PM true --Icp/PMOutlierRatio 0.95 --Icp/VoxelSize $(arg cell_size) --Icp/MaxCorrespondenceDistance 0.1 --Icp/PointToPlaneGroundNormalsUp 0.9 --Icp/Iterations 10 --Icp/Epsilon 0.001 --OdomF2M/ScanSubtractRadius $(arg cell_size) --OdomF2M/ScanMaxSize 15000 --Grid/ClusterRadius 1 --Grid/RangeMax 20 --Grid/RayTracing $(arg lidar3d_ray_tracing) --Grid/CellSize $(arg cell_size) --Icp/PointToPlaneRadius 0 --Odom/Strategy 0 --Odom/GuessMotion true --Odom/ResetCountdown 0 --Odom/ScanKeyFrameThr 0.9"/>


 
  <remap from="/rtabmap/grid_map" to="/map"/>
  <include file="$(find rtabmap_ros)/launch/mainrtabmap_stereo.launch">
    <arg     if="$(arg localization)" name="args" value="--Reg/Force3DoF $(arg slam2d) $(arg lidar_args)" />
    <arg unless="$(arg localization)" name="args" value="--Reg/Force3DoF $(arg slam2d) $(arg lidar_args) -d" /> 
    <arg name="localization"    value="$(arg localization)" />
    <arg name="visual_odometry" value="true" />
    <arg name="approx_sync"     value="$(eval camera or not icp_odometry)" />
    <arg name="imu_topic"       value="/gx5/imu/data" />
    <arg unless="$(arg icp_odometry)" name="odom_topic" value="/odometry/filtered"/> 
    <arg name="frame_id"        value="base_link" />
    <arg name="rtabmapviz"      value="$(arg rtabmapviz)" />
    <arg name="gps_topic"       value="/gps/fix"/>

   
    <arg name="subscribe_scan"  value="$(arg lidar2d)" />
    <arg if="$(arg lidar2d)" name="scan_topic"  value="/scan" />
    <arg unless="$(arg lidar2d)" name="scan_topic"  value="/scan_not_used" />   


   
    <arg name="subscribe_scan_cloud"  value="$(arg lidar3d)" />
    <arg if="$(arg lidar3d)" name="scan_cloud_topic" value="/velodyne_points" />
    <arg unless="$(arg lidar3d)" name="scan_cloud_topic" value="/scan_cloud_not_used" />
   
   
    <arg name="depth"             value="$(eval camera and not depth_from_lidar)" />
    <arg name="subscribe_rgb"     value="$(eval camera)" />
    <arg name="rgbd_sync"         value="$(eval camera and not depth_from_lidar)" />
    <arg name="rgb_topic"         value="/camera/color/image_raw" />       
    <arg name="camera_info_topic" value="/camera/color/camera_info" />             
    <arg name="depth_topic"       value="/camera/depth/image_rect_raw" />    
    <arg name="approx_rgbd_sync"  value="false" />
   
   
    <arg name="gen_depth"                  value="$(arg depth_from_lidar)" />
    <arg name="gen_depth_decimation"       value="4" />
    <arg name="gen_depth_fill_holes_size"  value="3" />
    <arg name="gen_depth_fill_iterations"  value="1" />
    <arg name="gen_depth_fill_holes_error" value="0.3" />
   

   
    <arg if="$(arg icp_odometry)" name="icp_odometry" value="true" />
    <arg if="$(arg icp_odometry)" name="odom_guess_frame_id" value="odom" />
    <arg if="$(arg icp_odometry)" name="vo_frame_id" value="icp_odom" />
    <arg unless="$(arg slam2d)"   name="wait_imu_to_init" value="true" />
    <arg if="$(arg lidar3d)"      name="odom_args" value="--Icp/CorrespondenceRatio 0.01"/>
  </include>


but when i want to do mapping, map is not constant even when the vehicle is motionless:



Graph.png



what is the solution?