search

introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
1.01k stars 558 forks source link

Warning about OdometryF2M #294

Open tonycar12002 opened 5 years ago

tonycar12002 commented 5 years ago
  1. I launched the rgbd_mapping.launch. Why did i get the warning while I rotated the husky in gazebo. It worked fine if I only move forward and backward.

[ WARN] (2019-03-02 11:36:50.149) OdometryF2M.cpp:469::computeTransform() Registration failed: "Not enough inliers 0/20 (matches=2) between -1 and 1141" [ INFO] [1551497810.151549105, 39055.260000000]: Odom: quality=0, std dev=0.000000m|0.000000rad, update time=0.052208s

  1. Can I use both visual odometry from 3D velodyne lidar and RGB camera?
matlabbe commented 5 years ago

  1. See Odometry Lost section on this page: https://github.com/introlab/rtabmap/wiki/Kinect-mapping#lostodometry

  2. You could start by using the wheel odometry from the husky as the input odometry for rtabmap. Then afterwards, if not accurate enough, you may check for lidar odometry with velodyne and/or visual odometry from RGB-D camera, and do fusion with robot_localization package.