This issue involves setting up RTABmap to work with our current software. RTABmap should take in depth and IMU data from the zed camera and output the robot's current pose and an Occupancy Grid for the walls of the racetrack.
ZED has an official guide for working with RTABmap. However, the launch files from ZED must be modified to work with our software stack.
In the future, we may change camera sources to something other than ZED. For example, we may simulate a depth camera in Gazebo or upgrade to a more expensive model. In this case, it should be easy to swap out the ROS topic providing the depth image.
Additionally, RTABmap has a lot of parameters for occupancy map generation. These should be tuned as best as possible until we get to do field testing at a physical racetrack.
Sub-tasks
Launch file for RTABmap ros node
Launch file for ZED camera
Rviz configuration for visualizing the map and pose outputs
Description
This issue involves setting up RTABmap to work with our current software. RTABmap should take in depth and IMU data from the zed camera and output the robot's current pose and an Occupancy Grid for the walls of the racetrack.
ZED has an official guide for working with RTABmap. However, the launch files from ZED must be modified to work with our software stack.
In the future, we may change camera sources to something other than ZED. For example, we may simulate a depth camera in Gazebo or upgrade to a more expensive model. In this case, it should be easy to swap out the ROS topic providing the depth image.
Additionally, RTABmap has a lot of parameters for occupancy map generation. These should be tuned as best as possible until we get to do field testing at a physical racetrack.
Sub-tasks