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rayvburn / ORB-SLAM2_ROS

A ROS wrapper for ORB-SLAM2
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rgbd camera's problem #7

Open karthyhu opened 3 years ago

karthyhu commented 3 years ago

hi,i'm very grateful your project,and the part of monocular is working success. but I tried to run RGBD by realsense D435,noticed the launch file realsense_rgbd.launch maybe not complete,so I treide to fix it like

but it still can't work,the odom and robot's TF drift very very hard,how can I solve this? thank you so much.

image

rayvburn commented 3 years ago

Sorry, I have tested the ORB-SLAM with monocular cameras only.

Please, create a Pull request with your modified .launch file and provide the .bag file with your RGBD camera sequence, I'll try to debug this issue in a spare time.