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Bundle Adjustment with IMU factor

When applying bundle adjustment to a graph with IMU factors during the optimization process, there are two residual terms which involve the state at a particular time. The current state and the ...
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SIM(3) conversion to SE(3) after pose graph optimization

To address scale drift in mono slam solutions, the euclidean transformations are converted to SIM(3) transformations and pose graph optimization is run on the 7dof pose graph. My confusion is, how do ...
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Covariance Matrix for the Measurement Model using a Camera

I'm currently taking an introductory course in Autonomous Systems where our project involves implementing the FastSLAM algorithm for an Alphabot2. This project uses a camera and Aruco markers as ...
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Exporting Lidar SLAM output to LAS from RViz and Aggregating Trajectories

I hope everyone is well. I ran SLAM using ROS on a PCAP from the Hesai OT128. The PCAP was converted to a bag file so that it can be inputted into the Kitware SLAM library. I was able to get a SLAM ...
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SLAM Toolbox with hilly terreins

is it possible to map hilly terrains with SLAM Toolbox, 2D LiDAR, IMU and the odometry provider by the robot itself? Or do I need to search for another algorithm? Or for mapping 3D environments I need ...
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Scaling 3d map after it is built

Suppose you are running an algorithm which doesn't provide absolute scale during initial map construction. Is there a way to integrate scale information after the fact assuming all points are ...
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Is there a lightweight 3D Mesh Viewer library or framework in C++ besides Pangolin?

I'm working with SLAM in C++ and used for this the good old pangolin viewer, but now I want to create a triangulated mesh in this viewer. Before I start with my programming, I thought I will do some ...
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What is a cluster in RTAB-Map?

I saw parameters related to cluster inside RTAB-Maps configuration ClusterRadius and MinClusterSize but their is absolutely no documentation that describes what these values are and how they should be ...
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[Noetic, RTABMap, GPS]I want to use GPS with RTABMap

Hello. I want to integrate RTABMap and GPS. I currently have a T265 and a D455 available for RTABMap. I am using Ubuntu 20.04, ROS Noetic. Below is the launch file for RTABMap. ...
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Loop Closure with Velodyne and Camera using RTAB-Map?

I am running RTAB-Map with a 3d point cloud (Velodyne VLP-16). I use the icp_odometry node which seems to work quite well in principle, but it doesn't do loop closures. I found that this is, because ...
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MULTI-SESSION RTABMAP PROBLEM

Hello everyone, i am working with rtabmap, and I want to use multi-session feature of this package to merge local maps. I am following this tutorial multi-session tutorial. However, i figured out that ...
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SLAM in AUTOWARE using 3 VLP16

Hello I want to SLAM in AUTOWARE using 3 VLP16s. I am trying to use Multi_lidar_calibrator. "Multi_lidar_calibrator" can calibrate only 2 lidars. So I created a new ".lauch file" ...
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What is the Best SBC/mobile computing platform for ROS in 2020

HI Hope you are doing well. I am currently trying to make a scale self-driving rally car. TBH I don't have much idea about what I am doing but I made a some what functional self-driving car(In CARLA ...
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1 answer
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3D LIDAR SLAM in 2020

Hi, I have been using RTABMAP for SLAM with a stereo_camera, and it is working very well. It seems well maitained by the activity on the github page. Now I am looking to perform the same task with a ...
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What is different RGBD SLAM VS RTAB-Map SLAM?

Hi. ROS beginners. So I'm not sure. I tried to use rtabmap for slam using rgb-d in ROS slam. But is rgbd_slam also provided in the ros package? i can check the rgbslam at the following link. http://...
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Could not save point cloud map from rtabmap

Hi! I tried to generate a 3D mapping using fetch in gazebo simulation using rtabmap, and I was able to open the rtabmap.db file. Although I could see the map when I open the file with "rtabmap ~/....
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Unable to build RTAB map using 2d rotating LiDAR

Hi, I'm using a rotating 2d lidar and then using laser assembler package to get 3d point cloud. Video I can see the point cloud but when I used in RTAB no map frame is generated neither it is able to ...
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Is there a way to fix rviz lag?

Remote PC specs: 16GB ram, Nvidia GTx, 2.4GHz i7. It maps using a kinect with sufficient speed The robot PC is a Compaq Mini, no Nvidia, 1.6 Ghz Intel Processor, not the most responsive PC out there......
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It is possible to create a map with rtabmap using the laser and obtaining 3D point cloud at the same time?

Hello, I'm using rtabmap in order to carry out rgbd slam using a rgbd camera, odometry and a fake laser scan obtained from the rgbd camera. When I execute rtabmap, the generated grid_map is different ...
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1 answer
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How to use Benewake CE-30C Solid State 3D Lidar with ROS for getting point cloud?

I have a benewake CE-30C Lidar. Link I can see how to interface Rp-lidar or Velodyne Lidars, but I can't find much support for this. Can somebody guide me as to how to get the point cloud data that is ...
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1 answer
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RGBD-SLAM remote mapping problems

Hi, I am attempting to remotely build a map in real-time with RGBDSLAM over Wifi (if possible). I have Raspberry Pi 3 on my robot with Kinect XBOX 360 from which I am streaming RGB and depth images. ...
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1 answer
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The Intel RealSense R200 camera is not detected by the Turtlebot3 (Waffle)

Hello all, I am trying to do 3D SLAM using the R200 camera and Turtlebot3 Waffle. I installed the Intel® RealSense™ package following the steps given in http://emanual.robotis.com/docs/en/platform/...
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I am having errors while getting octomap from rgbdslam_v2 GUI and also where do I get the output of online octomapping?

As it is essential to get octomap for navigation and path planning but I am not able to do that I have followed the answer also but it isnt helping. https://answers.ros.org/question/9712/how-to-use-...
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How to tell the robot to go to a location on the map

http://wiki.ros.org/navigation/Tutorials/SendingSimpleGoals This tutorial shows how to tell the robot to move forward. However, if I want to let this robot move to a certain coordinate on the map what ...
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1 answer
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Problem in implementing SLAM in ROS

I know the algorithms of the SLAM but I want to implement my own code without using gmapping I know how SLAM is implemented but don't know how to integrate it with ROS. Is their any guide I also know ...
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1 answer
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iphone 6s camera calibration parameters

How can I get camera calibration parameters for iphone 6s? I need the following intrinsic parameters: Cam_fx: normalized focal length in x Cam_fy: normalized focal length in y Cam_cx: normalized ...
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1 answer
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RGBDSLAM_v2 save Octomap at a particular z value

As stated in the title, is there a way to save octomap(GUI or commandline) at a particular z value? Is there a way to do it by tweaking either the launch files or source code? If so, where to locate ...
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1 answer
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SLAM with a camera without odometry

I am new to the computing world. I recently bought a Kinect v2 for windows for making a self-driving car to navigate in the indoor areas. I have a small RC car with simple functionalities of start, ...
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1 answer
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How to install lsd_slam on my ROS?

I am currently trying to create an autonomous drone. For this task, I want to employ the monocular SLAM method. After reading a few papers and having trawled forums on the internet, I have decided to ...
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1 answer
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6DOF Localization with stereo camera against RGBD dense point cloud

I have a point cloud of an environment generated by a Kinect One using rtabmap. I have a stereo camera, and I'm looking for a ROS package capable of performing full 6DOF localization using the stereo ...
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SLAM on Jade ROS

Hey Folks, I want to know you about SLAM project on Jade ROS, I see videos on youtube, but none of them explain how this is done. Could any one help in listing projects for beginners like me rather ...
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1 answer
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Using ethzasl_icp_mapping in indigo with velodyne HDL-32E

I am trying to use ethzasl_icp_mapping on Ubuntu 14.04 with ROS Indigo. Following the steps how I proceed : first, I clone the :ethzasl_icp_mapping in my catkin_ws I run catkin_make, no build file is ...
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2 answers
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How can I find some valuable problems about SLAM which can be my master research projects?

hi, my dear ROS friends! I am a first-year student for my Master Degree and SLAM is totally a whole new thing for me. There are so many things I need to learn. I am learning how to operate ROS to do ...
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1 answer
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Pointcloud_to_laserscan for bag files?

Hello all, I am currently working to analyze pointcloud data from a Velodyne LIDAR and run SLAM on it, so I've been trying to run pointcloud_to_laserscan on it in order to convert it into a form that ...
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1 answer
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Are there any slam packages to get 3d position and orientation of a robot?

I would like to ask you whether or not there are some packages to get 3d position and orientation of a robot. I am studying about legged robots and I try to have that robot climb stairs. I am in ...
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1 answer
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use of rtabmap with 3D lidars

I need to scan and get an accurate 3D model of a small building and its surroundings (trees, etc.). I plan on mounting my sensors on a small drone and fly around the building to scan it. The ...
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2 answers
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can hector_slam be used to create 3D models?

Hello, Does hector_slam create only 2D maps or can it be used to created 3D models as well? My data comes from a Velodyne LiDAR and I need to create a 3D model of the object that is being scanned. I ...
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2 answers
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Problem: Octomap is not working with Kinect Pointcloud

Hello Everyone, I am using kinect for creating pointcloud and passing /camera/depth/point from kinect freenect_camera to ...
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1 answer
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How do you deal with the "Kidnapped robot problem"

Having a map, and the robot "waking up" at an unknown position, what methods are currently used to recover the position? Originally posted by Mehdi. on ROS Answers with karma: 3339 on 2015-...
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1 answer
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How ros_control can be customized to a dynamixel based omni directional mobile base

Recently I got to know that ros_control is very much helpful while making a mobile-robot(Specially for autonomous navigation). I am not find any good technical explanation and how it customized to our ...
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1 answer
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Is there any SLAM method based on Octomap representation?

I know what I am saying here is not precise.I know Octomap is a 3D occupancy grid mapping approach based on an octree and there are some SLAM methods that works based on 2D occupancy grids. E.g. ...
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1 answer
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Is there a 3DSLAM package for ros-hydro?

I was looking to do 3d pointcloud construction using a kinect, but i was unable to find and suitable package for the same. If someone would be kind enough to suggest something. Originally posted by ...
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1 answer
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3D vision with one camera / VSLAM with known position

I want to map an environment with a single camera which moved through the environment with a known trajectory. So that I create a 3D map. Several SLAM systems can create a (2D or 3D) map and estimate ...
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1 answer
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3D SLAM & Velodyne HDL-32E

Does anyone know if there's a good 3D SLAM package out there? We have a Velodyne HDL-32E. Thanks to @joq and others, the ROS driver works like a charm. But we haven't found a 3D SLAM package to use it ...
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