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Hello, I am pretty new to this field of automated robots and navigation, I appreciate it if anyone can help me in solving this problem, I have a rosbag file captured using ros2 humble and oak-d pro camera containing of /camera/depth/image, /camera/left/image, /camera/right/image and /imu/data ( I need to mention that data was saved as raw images and a csv file of imu data which I used python to sync the timestamps of imu data and images and save them in a csv file and then used a ros package to publish the synced data in a rosbag) now I am trying to capture the generated map from slam. Since I don't have pose data I am using rtabmap to capture both estimated odometry and generated map.
Below, I will put my ros2 topic list and ros2 topic info and my launch file and the errors I have.
I would suggest to record camera data directly into a ros bag, because you need the camera_info, /tf, /tf_static topics. You are setting Identity TF between all sensors, which looks wrong. depthai ros wrapper should already give you /tf and /tf_static, and the camera_info topics.
Frame rate of 1 Hz is too low. At least 10 Hz is required unless you are moving very slowly and the frames are perfectly already synchronized.
Hello, I am pretty new to this field of automated robots and navigation, I appreciate it if anyone can help me in solving this problem, I have a rosbag file captured using ros2 humble and oak-d pro camera containing of
/camera/depth/image
,/camera/left/image
,/camera/right/image
and/imu/data
( I need to mention that data was saved as raw images and a csv file of imu data which I used python to sync the timestamps of imu data and images and save them in a csv file and then used a ros package to publish the synced data in a rosbag) now I am trying to capture the generated map from slam. Since I don't have pose data I am using rtabmap to capture both estimated odometry and generated map.Below, I will put my
ros2 topic list
andros2 topic info
and my launch file and the errors I have.launch file:
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