Longtime, no see!

Very cool! Might try it later. Was checking out their Unitree 4D LiDAR L1... but seems like the support is not easy to ROS2 yet.

@matlabbe

10 ай бұрын

It looks like a great lidar for that price!

I can convert OBJ format to DAE with Meshlab (I use RTAB-Map iOS app), but I didn't have any texture, I need some help!

@matlabbe

10 ай бұрын

Can you see texture when you open OBJ in meshlab? If so, maybe an option in meslab DAE exporter should be enabled to export with texture.

I'd be interested to know what sensors were used to get the initial textured point cloud?

@matlabbe

10 ай бұрын

The simulated textured environment was captured using RTAB-Map android app on a Google Tango phone. I don't actively support android app anymore, but I would refer you to RTAB-Map iOS instead kzread.info/dash/bejne/pIqkq8Wrl6ebk5M.html

just a querry...can I do the whole thing on ROS2 or is it specific to ROS1....and Loop Closure and Odometry images of RTabMap looks inverted ! (Sorry I may be wrong !! )

@matlabbe

10 ай бұрын

The cameras seem upside down on the robot. The demo is specific to ROS1 (the rtabmap launch can be ported to ROS2 though). I am not sure there is an official ROS2 simulator for that robot (it looks not very convenient to use the controller right now on ROS2 kzread.info/dash/bejne/i4eZxraOqKyWp8Y.html)

How to export the RTAB-map (.db file) and import to Gazebo? Is there has any tutorial? thanks you (sorry about my poor English, I'm from Taiwan)

@matlabbe

10 ай бұрын

If you use RTAB-Map iOS app, you can directly export an OBJ file after the assembled mesh has been created. If the database contains a texture mesh (from iOS app for example), in rtabmap-databaseViewer you can do File->Export optimized mesh. If you have a db without mesh generated, you may generate one following instructions from here: github.com/introlab/rtabmap/wiki/Multi-Session-Mapping-with-RTAB-Map-Tango#7-export-the-mesh Afterwards, convert OBJ format to DAE with Meshlab. Once you have the DAE, you can create a model for gazebo. As example, the environment in this video is the "apt" model from this repo: github.com/matlabbe/rtabmap_drone_example/tree/master/models/apt

@yuan0816

10 ай бұрын

​@@matlabbe Thanks for your reply!! I will try later

Do you recommend any tutorial for me to start?

Did you use rosbag or is rtab running directly on the robot?

@matlabbe

10 ай бұрын

This is in simulation (Gazebo)

@martincerven

10 ай бұрын

I thought it’s your house😅 but I guess you made a mesh from real building to gazebo model right?

@matlabbe

10 ай бұрын

@@martincerven yeah, it is a 3d scan from a real apartment that I took, imported to Gazebo

So here you are doing only Visual Localisation on a pre built .db file ...are you using multiple camera feeds for localisation...( coz its written Multi-camera VSLAM )

@matlabbe

10 ай бұрын

In this video it is SLAM, not localization. The db is built as the robot is moving. Yes, three rgb-d cameras (front, left, right) of the robot are used.