matlabbe
commented
5 months ago At first view it looks good. Make sure the D435i camera's IR emitter is OFF or the odometry won't work correctly. With approx_sync to false, I think it should be okay with D435 camera because all image topics are stamped with exactly the same stamp. It should not then be a problem to receive odom topic from stereo_odometry while rtabmap and rtabmap_viz nodes subscribed to RGB-D data.
For the impacts, loop closure detection will be done using RGB-D data, so loop closures may not be as accurate and may suffer from motion blur (that could affect the number of loop closures detected when moving the camera). On rtabmap_viz, you would see the RGB-D point cloud instead of stereo data used by odometry. If you want to see/debug visual odometry info (with subscribe_odom_info to true for rtabmap_viz node), set stereo input topics for rtabmap_viz so that odom_info topic matches with the stereo data to be shown. The map point cloud will still be created with RGB-D published by rtabmap node.
Boris-Cui
Hello, thanks for your patience in answering our questions. I have a simple question about mapping. i use realsense d435i and ros2. and i use stereo topics(infra1 and infra2) and imu topic to complete the odometry part, and use rgb and depth topic to complete the mapping part. i want to know if the combination has a potential impact to the created map. and what should the odometry display look like in GUI interface in the combination? the attached file is my launch file: if it has something wrong in my launch file, Please point out my mistakes. thanks! 1.txt