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Updated for rtabmap 0.20.5. OdometryROS: Fixed odometry stamps slightly off when subscribing to IMU (causing exact sync problems on rtabmap/rtambapviz side).

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This commit is contained in:
matlabbe
2020-10-12 21:20:32 -04:00
parent 10ed0109b8
commit c23dbbc249
6 changed files with 88 additions and 87 deletions
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launch/tests/test_d435i_vio.launch
+3 -2
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@@ -7,6 +7,7 @@
<arg name="rtabmapviz" default="true"/>
<arg name="rviz" default="false"/>
<arg name="depth_mode" default="true"/>
<arg name="odom_strategy" default="9"/> <!-- default VINS -->
<arg name="unite_imu_method" default="copy"/> <!-- "copy" or "linear_interpolation" -->
<include file="$(find realsense2_camera)/launch/rs_camera.launch">
@@ -32,7 +33,7 @@
<!-- RTAB-Map: depth mode -->
<!-- We have to launch stereo_odometry externally from rtabmap.launch so that rtabmap can use RGB-D input -->
<group ns="rtabmap">
<node if="$(arg depth_mode)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" args="--Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml" output="screen">
<node if="$(arg depth_mode)" pkg="rtabmap_ros" type="stereo_odometry" name="stereo_odometry" args="--Optimizer/GravitySigma 0.3 --Odom/Strategy $(arg odom_strategy) --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml" output="screen">
<remap from="left/image_rect" to="/camera/infra1/image_rect_raw"/>
<remap from="right/image_rect" to="/camera/infra2/image_rect_raw"/>
<remap from="left/camera_info" to="/camera/infra1/camera_info"/>
@@ -57,7 +58,7 @@
<!-- RTAB-Map: Stereo mode -->
<include unless="$(arg depth_mode)" file="$(find rtabmap_ros)/launch/rtabmap.launch">
<arg name="rtabmap_args" value="--delete_db_on_start --Optimizer/GravitySigma 0.3 --Odom/Strategy 9 --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml"/>
<arg name="rtabmap_args" value="--delete_db_on_start --Optimizer/GravitySigma 0.3 --Odom/Strategy $(arg odom_strategy) --OdomVINS/ConfigPath $(find vins)/../config/realsense_d435i/realsense_stereo_imu_config.yaml"/>
<arg name="left_image_topic" value="/camera/infra1/image_rect_raw"/>
<arg name="right_image_topic" value="/camera/infra2/image_rect_raw"/>
<arg name="left_camera_info_topic" value="/camera/infra1/camera_info"/>