Open takahiko-hasegawa-hdjp opened 1 year ago
Hi @takahiko-hasegawa-hdjp you can take a look into my examples with the D405x2 and D405x3 cameras. I am doing simultaneous mapping using multi session cameras, but I am only localizing so far with the front one. I think there is a way to use two, even three, by configuring the odometry node with rgbd_cameras:2, but I think there are more configs you have to setup. At least, the mapping, is done synchronized.
@adricort Thanks so much! I will take a look!
Well, so I have my own wheel enocders that publishes odom-base_link so I dont need visual odometry. I want to use both two camera for pure localization. can I do that?
Yes, you can set rgbd_cameras
parameter to 2 for rtabmap
node and provide the input topics (possibly outputs of two rgbd_sync
nodes). For multi-cameras localization, it is also preferred to build rtabmap with OpenGV.
I have two RGB-D cameras: Front & Rear camera. I want to use both cameras for my localization. Is there a way to do that? if so do you have any example using ROS launch file?
Thanks in advance