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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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Drift on no movement when odometry lost #449

Open BarzelS opened 4 years ago

BarzelS commented 4 years ago

Hi, I'm using rtabmap and robot_localization with my D435i, I'm getting a drift as seen on the gif when the odometry get lost without any movement of the camera. Any idea why? The gif you can see here is one I'm only inserting the odometry data to the ekf_localization_node (Attached my yaml file) Also when I can see that when I set the "publish_null_when_lost" to true even the odometry data from rtabmap only(without robot_localization node) is getting this drift

only_odom

ekf.yaml

frequency: 50
sensor_timeout: 0.1
two_d_mode: false
publish_tf: true

odom_frame: odom
base_link_frame: camera_link
world_frame: odom

odom0: /odom
odom0_config: [ true, true, true,
                true,  true,  true,
                true,  true,  true,
                true,  true,  true,
                true,  true,  true]
odom0_differential: false
matlabbe commented 4 years ago

Duplicate of https://github.com/introlab/rtabmap/issues/578?

BarzelS commented 4 years ago

Duplicate of introlab/rtabmap#578?

@matlabbe kind of, but in different repo, actually I have more details here, I can merge between the two issues if you prefer it that way.