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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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rtabmap with livox avia #640

Open aditdoshi333 opened 2 years ago

aditdoshi333 commented 2 years ago

Hello,

Just curious to know that is there any example of running rtabmap with livox avia. If not, Can you guide me a bit how to make it work?

matlabbe commented 2 years ago

For rtabmap node, subscribe_scan_cloud can be set to true, then remap scan_cloud topic to livox's PointCloud2 topic.

For icp_odometry, there is currently no working example with livox butterfly pattern, so external odometry is required (like using LOAM-Livox as input odometry to rtabmap node). We recently integrated F-LOAM, which can be used by icp_odometry, maybe it could work.

alienshengzi commented 2 years ago

I have the same problem to solve