MotorTrick
commented
3 years ago also, I'm trying to place a kinect (the one you can find in the gazebo repository, based on openni plugin) but I'm getting only 12/15FPS near obstacles (gazebo7). Which is "enough" but it's not "realistic". Did you have this problem?
Moreover, I noticed that you have scan_range_min, scan_range_max, scan_angle_increment for the LRF. Can I use them with, for example <param name="scan_range_min" type="double" value="0.2"/> within the launch file? BC I've tried but I still see the supports that are present on my robot as obstacles if I don't decrease the range of the sensor, and they appear in rtabmapviz.
Hi, I was wondering: is there a way to fix a threshold on the number of features to trigger the proximity loop closure? it happens that in nearly empty spaces the robot gets drifted away because of "incorrect" matching. For example in the kitchen_dining scenario in gazebo near the opening through the open-world at the end of the table just before that small "corridor"...
For the kitchen_dining scenario that you use on your paper have you created a stl for collisions or just used the dae again? If I use the plain version available from gazebo I don't have any "collision" i.e. my laser sees through objects.
p.s. can you re-check this and this :) thanks :)