5 votes
Accepted

Marginalization vs Dropping states for sliding window VO

Short answer: Marginalization is a fancy way of applying a prior on certain nodes of your factor graph. Note that Marginalization vs Dropping data is not only specific to the sliding window case, but ...
edwinem's user avatar
  • 1,861
4 votes
Accepted

Autonomous Mapping help!

I think there is a bit of misconception with what SLAM does, just remember that SLAM stands for; Simultaneous Localization and Mapping, what you want is to explore the map (autonomously of course) so ...
Harley Lara's user avatar
3 votes

[slam_toolbox]: Failed to compute odom pose

I can see the standard frame in slam_toolbox param file is base_footprint. See yaml-file. I can't see it in your tf.
Nobel's user avatar
  • 56
3 votes

ROS Package Dependencies Installation for Begginer

It looks like you have a question about best practicies for managing dependencies in ROS 1. Using rosdep is the prefferred route during development (option 3). ...
Shane Loretz's user avatar
  • 1,273
2 votes

Why visual SLAM is seldomly used in autonomous driving?

There are a couple of reasons. Autonomous driving is all about perception and localization. Not the mapping. For localization, a simple map and GPS are enough. In terms of perception, the ...
Chanoh Park's user avatar
  • 1,567
1 vote

Trouble with SLAM Toolkit

Solved. Using the python launch file was ignoring the parameters. Running the executable directly with ros2 run, like so, fixed this. ...
jgauthier's user avatar
  • 151
1 vote
Accepted

Extract color from Octomap

I almost forgot to answer my own question, but here is what I found works. The comments should be helpful in telling what each line does ...
Joshua L's user avatar
1 vote

RTABMAP with stereo cameras, mapping along the wrong axis, and odometry is all over the place

So I found the answer: in the modified camera.xacro file here ...
tmayoff's user avatar
  • 21
1 vote

Saved map fro Slam_toolbox won't show up in RViz

copy the launch file "online_async_launch.py" from "slam_toolbox" into your robot package launch directory, change the package name to your robot package name, and launch it from ...
Badikala Susheel Kumar's user avatar
1 vote

Mapping not working in gazebo, /scan messages published on wrong topic

I was surprised to see that topic remapping wasn't working, but it looks like the launch files have been written to enable multiple Turtlebots and spawning each one within its own namespace. Each set ...
proan's user avatar
  • 151
1 vote

Mapping not working in gazebo, /scan messages published on wrong topic

you can do 3 things: change the configuration of slam to listen the specific topic of tb2/scan in the slam configuration params remap the topic when slam is launched to listen /tb2/scan instead scan. ...
rdelgadov's user avatar
1 vote

ros2 map not received when using slam_toolbox

I've figured out what was the issue. Slam Toolbox package works with the topic /scan by default in his file "mapper_params_online_async.yaml" (you can use your owns params if you change it) ...
dani santana's user avatar
1 vote

Reconstruct 3d positions of markers relative to each other without camera localization

This is definitely feasible by using visual fiducial markers. Usually you would use a motion capture system (Vicon etc) for that, so if you have one available or can get access to one, that should be ...
Bernd Pfrommer's user avatar
1 vote

Using custom map with Turtlebot3 for gmapping

Since you're working in simulation, you should set use_sim_time to true: ...
D. LaRocque's user avatar
1 vote
Accepted

Lifelong mappping in slamtoolbox

Lifelng mapping in SLAM Toolbox is in the experimental namespace and documented as an experimental-only feature. There are definitely gaps in it.
Steve Macenski's user avatar
1 vote

I tried to bring up the map server, but it doesn't seem to be coming up

On the bottom left of Rviz there is a "Add" button. You need to add a map and choose the map topic to display in Rviz. Also, it might be just for me, but if no node subscribes to ...
dura's user avatar
  • 11
1 vote

How to use smartphone IMU in ROS?

There was a recent thread on the ROS Discourse about a possible student project to develop this. The project didn't get started unfortunately, but still there are a lot of relevant references in that ...
JRTG's user avatar
  • 1,674
1 vote

Is there a way to do a 3D map only with a 2D Lidar and IMU sensor in ros2?

The simple solution is externally rotating the lidar but I don't recommand it. See the video below. https://www.youtube.com/watch?v=8ezyhTAEyHs Just using a low cost 3D lidar like mid-360 is much more ...
Chanoh Park's user avatar
  • 1,567
1 vote

Is there any way to know if tmux is slow for a multi-robot experiment and if there are alternatives?

After a quick Google search tmux seems to have some issues with multiple long running processes. Are you using multiple panes/windows or multiple sessions to run the tasks on tmux? It may be worth to ...
rubimat's user avatar
  • 106
1 vote
Accepted

Regarding rviz display after converting from sensor_msgs::Range type to sensor_msgs::LaserScan type

The "frame_id" in the header of your laserscan is not populated - RVIZ/TF has no idea where to put the data. You need to copy this data over from the range message. Once that is fixed though,...
Mike Ferguson's user avatar
1 vote
Accepted

ROS2 SLAM without Lidar

You will need to provide your own specialized localization solution since you don't have any of the necessary requirements for 2D or 3D lidar SLAM. There are VSLAMs you might want to check out, but I ...
Steve Macenski's user avatar
1 vote

Understanding reprojection error / visual residual in ORB-SLAM3

I agree with you it is not the best notation. Regarding your understandings. Is correct. It is Transform from the camera frame to the IMU/Body Frame. $T_i$ does not involve the camera. You can look ...
edwinem's user avatar
  • 1,861
1 vote
Accepted

Intel RealSense with ROS 2

Welcome to Robotics Stack Exchange! In short, the Intel RealSense camera works with ROS 2. You are looking at the documentation of the librealsense, which may not ...
ravi's user avatar
  • 1,366
1 vote

SVO 2.0 - is there any way to save/load a map?

It is common for SLAM nodes to not provide this feature, because it is already available from the map_server ros package. ...
Mike973's user avatar
  • 926
1 vote

Traffic cone detection and mapping

I recommend you to first have a thorough check of past works done by various FS teams, one such example is AMZ Driverless: The Full Autonomous Racing System: The aforementioned ground removal ...
akchobby's user avatar
  • 118
1 vote

UM7 Orientation Sensor IMU not Publishing at 255 Hz. It is around 20-45 Hz, How to fix?

Have you updated the baudrate? It may be targeting your desired update rate but be limited by the baudrate. See the discussion here: https://github.com/ros-drivers/um7/issues/17#issuecomment-363263312
Hilary Luo's user avatar
1 vote

Lidar/laser scan moves when the bot is moving while generating map

Your gazebo simulation has some problems: in gazebo.launch you do not set ros parameter /use_sim_time before launching the slam_gmapping node I don't think that setting ros parameter ...
Mike973's user avatar
  • 926
1 vote

slam_toolbox + LD19 LIDAR

I haven't used the slam_toolbox recently but it is probably something with your TF-Tree. You can see the tree in rqt and then ...
Darkproduct's user avatar
1 vote

Multisession odometry

After struggling with this for a while, the best repo I have found for offline reconstruction/pose graph optimization and merging multisession data is interactive slam. https://github.com/SMRT-AIST/...
Dimitar Baldzhiev's user avatar
1 vote

Marginalization vs Dropping states for sliding window VO

I think sometimes it could also make sense to simply truncate the nodes that are no longer needed if the remaining poses are constraint enough through the remaining measurements. Because the to be ...
x5qrst's user avatar
  • 11

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