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Generate PointCloud with RTAB-Map instead of Realsense SDK #64

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GodCed opened this issue Jan 16, 2020 · 0 comments
Open

Generate PointCloud with RTAB-Map instead of Realsense SDK #64

GodCed opened this issue Jan 16, 2020 · 0 comments
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@SimonMichaud @SamuelFaucher
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enhancement New feature or request

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@GodCed
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GodCed commented Jan 16, 2020

ToDo to improve obstacle detection under of over LIDAR line of sight (such as office chair legs).

Modify SecurBot bringup to generate the pointcloud with RTAB-Map (in launch/includes/rtabmap_bringup) instead of the RealSense SDK filter (in launch/includes/sensors/realsense) and tune to get good performance and lower CPU.

Enable back pointcloud observation source in costmap_common_config.yaml.

RTAB-Map pointcloud XYZ
RTAB-Map obstacle detection
@GodCed GodCed added the enhancement New feature or request label Jan 16, 2020
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@SamuelFaucher SamuelFaucher

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@GodCed @SimonMichaud @SamuelFaucher