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IntelRealSense / realsense-ros

ROS Wrapper for Intel(R) RealSense(TM) Cameras
http://wiki.ros.org/RealSense
Apache License 2.0
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T265 loses localization on traveling over a bump #930

Closed SSusantAchary closed 4 years ago

SSusantAchary commented 5 years ago

System:

Ubuntu 18.04 Nvidia Jetson Nano D435 & T265 ROS Melodic Rviz (for destination input )

I have a differential robot with D435 Camera and T265 camera , both have been aligned with the help of static transform.

[What's Working]: When the differential robot moves along a path without any bump or rise in its path, it successfully reaches the desired goal .

[Issue]:

  1. But when the robot while navigation comes over a small bump(i.e moving over a wire lying on floor), T265(i.e robot) loses it localization initially and ultimately gathers errors over time and reaches to wrong location , which in turn impacts the D435 Camera in updating local & global map for obstacle updation(when robot encounters).

  2. In 5 out of 10 cases of robots navigation , Even if above issue prevails the bot reaches the first destination, there after when we give next destination the Local_costmap and Global_costmap doesn't update with the dynamic obstacles.

RealSenseSupport commented 4 years ago

Thank you for highlighting the issue of losing localization while using T265 over bumps. We have moved our focus to our next generation of products and consequently, we will not be addressing this issue in the T265.

SSusantAchary commented 11 months ago

Thanks