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What can I do once it works? #9
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Hi! |
Thank for your response.
And, if I start flying around, would the |
Hi, To answer your questions.
|
Thank you so much for taking the time for thinking and answering. |
Yes, you are right. The pose array will keep growing as long as the SLAM is running and it doesn't lose tracking. Yes, it is the previously traversed areas. |
Hi, regarding the TF Issue, I'll have a look at what's going on. Can you give me more information about your setup? Are you running with or without odometry? If the drone doesn't provide odometry data then use the wrapper with the parameter For the second comment, you should be able to find this information on a topic named |
so the setting is correct, i.e.
I am using Aerostack2. What information can i give that would help? |
Hi, I tried to recreate this issue. I was unable to do it.
Sorry for the late reply, the issue is still in a blackbox :p I think more debugging might be needed. |
Hi!
So, after making it work comes the real question -
How can use the results of the algorithm? Lets say I move my drone around and map the area.
How can I use that map?
Can I use it on-the-fly for navigation?
In details:
The ORB_SLAM3 app publishes into to topics:
ros2 topic info /drone0/map_data
says it usesslam_msgs/msg/MapData
andros2 topic info /drone0/map_points
says it usessensor_msgs/msg/PointCloud2
Trying to echo
/drone0/map_points
gave me nothing. I though that the reason is the msg is too big, but using rviz I get nothing also when adding a PointCloud that subscribes to this topic.Echoing
slam_msgs/msg/MapData
however gives me some results.The structure of the msg is a following:
Using a python subscriber I can extract the results, that looks like this:
And some questions:
why do the optimized graph have no Frame ID?
why there are no keyframes?
Thanks
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