Open aled96 opened 3 years ago
@aled96 Hi, I'm finding a simulation d435i work in gazebo. Is your camera plugin the d435i?
Hi, yes. The model was taken from pal-robotics.
I tried to change the settings to this:
<node pkg="imu_filter_madgwick" type="imu_filter_node" name="ImuFilter">
<param name="use_mag" type="bool" value="false" />
<param name="_publish_tf" type="bool" value="false" />
<param name="_world_frame" type="string" value="enu" />
<remap from="/imu/data_raw" to="/d435i_camera/aceel/sample"/>
</node>
<include file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="frame_id" value="base_link"/>
<arg name="args" value="--delete_db_on_start"/>
<arg name="rgb_topic" value="/d435i_camera/color/image_raw"/>
<arg name="depth_topic" value="/d435i_camera/depth/image_rect_raw"/>
<arg name="camera_info_topic" value="/d435i_camera/color/camera_info"/>
<arg name="depth_camera_info_topic" value="/d435i_camera/depth/camera_info"/>
<arg name="rtabmapviz" value="false"/>
<arg name="rviz" value="true"/>
</include>
<include file="$(find robot_localization)/launch/ukf_template.launch"/>
<param name="/ukf_se/frequency" value="300"/>
<param name="/ukf_se/base_link_frame" value="torso_2"/>
<param name="/ukf_se/odom" value="rtabmap/odom"/>
<rosparam param="/ukf_se/odom_config">[true,true,true,
true,true,true,
true,true,true,
true,true,true,
true,true,true]
</rosparam>
<param name="/ukf_se/odom_relative" value="true"/>
<param name="/ukf_se/odom_pose_rejection_threshold" value="10000000"/>
<param name="/ukf_se/odom_twist_rejection_threshold" value="10000000"/>
<param name="/ukf_se/imu" value="/d435i_camera/accel/sample"/>
<rosparam param="/ukf_se/imu_config">[false, false, false,
true, true, true,
true, true, true,
true, true, true,
true, true, true]
</rosparam>
<param name="/ukf_se/imu_differential" value="true"/>
<param name="/ukf_se/imu_relative" value="false"/>
<param name="/ukf_se/use_control" value="false"/>
<!-- <param name="/ukf_se/odom0_config" value="{true,true,true,}"/> -->
And I obtained this as "voxel_cloud":
Moreover, I noticed that the depth/image_rect_raw
and aligned_depth_to_color/image_raw
are not the same. For example, one has also the portion of the wall over the hole (door let's say), while the other one stops earlier.
@aled96 I don't find the d435i plugin you said, could you please post a link? Thank you a lot.
There is a pull request here: https://github.com/pal-robotics/realsense_gazebo_plugin/pulls
@aled96 Thank you very much.
Hi, I am not so sure how to set the parameters in the launchfile.
I have a legged robot with a realsense D435i rigidly attached on the body.
I have strange behaviours, here there is an image of the gazebo scene and the voxel_cloud resulting in rviz
![Screenshot from 2020-12-11 11-58-12](https://user-images.githubusercontent.com/37381508/101895874-66318d00-3ba8-11eb-9fa0-a5040e3ade41.png)
Here I have the launch file used for what concerns the mapping part
Thank you for the help !