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VIO on ROS2 humble with simulated depth camera in Unity. #1180
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You can look at this example: rtabmap_ros/rtabmap_examples/launch/realsense_d400.launch.py Lines 31 to 34 in 57dd787
Note also if you launch on same computer than the camera, I wouldn't use |
Hello @matlabbe ,
Could you please help or point me towards any documentation for this? |
The documentation for ROS2 has not been ported from ROS1 yet. However, we use exactly the same topic name and parameters as ROS1, so you can go on http://wiki.ros.org/rtabmap_ros/noetic_and_newer to see what parameters mean and what topics the nodes are taking. From:
If rgbd_odometry doesn't output any odometry and output warnings saying it didn't receive topics, you may try with approx_sync:=true instead. You also have to confirm that these topics are actually published:
Make also sure that subscribers and publishers of these topics are using same
Note also that if you are in simulation, make sure you use One last note, it seems that |
Hello @matlabbe , I must mention that my compressed depth image is
Also, i wanted to know how does setting higher value of Thanks a lot in advance for your patience and help. [UPDATE] : I was able to get raw depth image in 32FC1 format using openCV. Haven't used it for VO yet, will update here as soon as I do. |
Hello,
After following the suggestions and digging around the errors that I was facing, I did the following changes and configurations:
Worth mentioning:
Please let me know how can i do the VO and mapping. Currently i don't see any error but there's no ouput at all in rtabmap-viz.
and
|
got it working with rgbd sync, some frame corrections and parameter adjustments. Was so tedious due to lack of documentation, hope this gets resolved soon in future. |
Hello,
I'm trying to use this package to do VIO on a robot operating in simulated micro gravity environment. I plan to fuse IMU with VO output from Rtabmap through 'robot_localization' package and then use the filtered Odometry ouput for mapping.
My simulated sensor gives compressed RGB and Depth image outputs. Could you please tell me how to set-up or launch the nodes for this?
I'm sorry I'm a little lost as i couldn't find any specific documentation for this on ROS2 platform. My launch file looks like this which is based on the launch file given for ROS2 turtlebot3 RGBD demo.
Overall, I just need to know how to set it up for VO output and use it for mapping. Thanks in advance.
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