test_velodyne.launch with t265.

[rahulsharma11]

Hi, I tested VLP16 with test_velodyne.launch with default configuration and it worked.

I wanted to use external Odometry (t265). For that i changed the launch file like-

<node pkg="nodelet" type="nodelet" name="point_cloud_assembler" args="standalone rtabmap_ros/point_cloud_assembler" output="screen">
        <remap from="odom_frame_id"           to="t265_link"/>
        <remap from="odom"            to="/t265/odom/sample"/>

Also provided the same in rtabmap node. And disabled the ICP odometry. Also made "subscribe_odom_info : false" in rtabmapviz.

Yet i am not able to get odom values in rtabmap nor in point_cloud_assembler.

Any suggestions on how to use VLP16 with t265? Thanks.

[matlabbe]

Hello,

I added a new velodyne+T265 example. It is still using icp_odometry but it uses T265 to deskew the lidar scan. Note that we can replace T265 odometry by any other odometry approaches (e.g., wheel odometry).

For your specific problem:

Yet i am not able to get odom values in rtabmap nor in point_cloud_assembler.

What are the errors or warnings that are shown? Don't forget to link the T265 frame with velodyne frame somehow.