Open aasishkc4 opened 2 months ago
Can you share the database?
Also, as computation time for RTAB-Map=0.4313s
, your detection rate is too fast (5 hz), I'll suggest to keep it to default 1 hz.
I am unable to upload the db file. Basically the above setup I am testing in the gazebo classic simulation and the point cloud published by the camera and lidar I am using to generate the map. Before that I am filtering the point cloud to remove the robot urdf from the cloud. Then the filtered cloud I am passing for the 3d reconstruction. And for the odom I have used the base_link, to which a plugin is attached which publishes the odom
<gazebo>
<plugin name="libgazebo_ros_p3d" filename="libgazebo_ros_p3d.so">
<ros>
<remapping>odom:=odom</remapping>
</ros>
<frame_name>world</frame_name>
<body_name>base_link</body_name>
<update_rate>30</update_rate>
<gaussian_noise>0.01</gaussian_noise>
</plugin>
</gazebo>
And the robot has the head which can roll and pitch to which the lidar and camera is attached. So, i provided the frame_id as "camera_depth_optical_frame".
Can you show the tf tree? (ros2 run tf2_tools view_frames.py
l
Is it look like world->odom->base_link->head_link->camera_link->camera_depth_optical_frame
? In which frames libgazebo_ros_p3d
is actually publishing odom topic and odom TF?
I am frequently getting th tf error which generates a wrong cloud in the reconstructed cloud.
Even though after the warning things are getting fine my the reconstructed cloud still has the wrong cloud.
This is my launch file with parameters