How to provide odometry? about rtabmap

[matlabbe]

You should create your own odometry thread, which will publish OdometryEvent. These odometry events are already catched by RtabmapThread (so no need to use pipes). OdometryEvent requires the pose + RGB-D images. You set the pose with x,y,yaw from your robot and fill the RGB and depth images. For convenience, you could use a class similar to CameraThread to do that.

For example, you could change this line in CameraThread.cpp:

this->post(new CameraEvent(rgb, depth, fx, fy, cx, cy, _cameraRGBD->getLocalTransform(), ++_seq, UTimer::now()));

to

float x = //... (from your robot's odometry)
float y = //... 
float theta = //...
Transform pose(x,y,0,0,0,theta);
SensorData data(rgb,
          depth,
          fx, fy, cx, cy,
          _cameraRGBD->getLocalTransform(),
          pose,
          1, // rotational variance
          1, // transitional variance
          ++_seq,
         UTimer::now());
this->post(new OdometryEvent(data));

[Tobias-Fischer]

Hi @matlabbe,
Thanks for your fast reply! It seems to be straightforward to change it to use the robot's odometry, I'll give it a try in the next couple of days.

Thanks,
Tobias

[Tobias-Fischer]

Hi,
just a quick update: I am using the ROS version of rtabmap by now, so I don't have this issue anymore. Thanks again for your help 👍

Best,
Tobias