Laser scan with d435i

• MartyG

  • August 24, 2020 21:39

  Hi Ksgokulraj06  Intel has a guide to SLAM using D435i and ROS.

  https://github.com/IntelRealSense/realsense-ros/wiki/SLAM-with-D435i 

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• Ksgokulraj06

  • August 24, 2020 21:41

  I saw that but i am getting some error in rtabmap im trying to figure it out,
  Can yiu help me getting the laser data from pointcloud or depth image

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• MartyG

  • August 25, 2020 07:40
  • Edited

  You will need some kind of software that is capable of SLAM to process the data.  If you have trouble with ROS and RTABMAP though, there are alternatives that you could try:

   

  OpenVSLAM (uses OpenCV)

  https://github.com/xdspacelab/openvslam 

   

  Kimera (can be installed with or without ROS)

  https://support.intelrealsense.com/hc/en-us/community/posts/360043774354-Highlighting-a-tutorial-for-Metric-Semantic-SLAM-with-Kimera-and-RealSense-D435i- 

   

  https://github.com/MIT-SPARK/Kimera (Non ROS)

  https://github.com/MIT-SPARK/Kimera-VIO-ROS/ (with ROS)

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• Ksgokulraj06

  • August 25, 2020 07:11

  Is there any way to get laser data coz when i try to get laser with pointcloud I'm getting errors

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• MartyG

  • August 25, 2020 07:42

  Could you tell me more please about what you mean when you say "laser data".  Posting an image here with errors on it would be very helpful too.  Thank you.

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• Ksgokulraj06

  • August 25, 2020 07:44

  I meant laser scan, I am working on a outdoor delivery robot and I'm using realsense d435i instead of lidar so for obstacle avoidance i need laser scan data from realsense,

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• MartyG

  • August 25, 2020 08:03

  If you need obstacle avoidance, Intel's ros_object_analytics ROS package may be able to provide that for you.  It can provide object avoidance and 'semantic SLAM'.

  https://github.com/intel/ros_object_analytics 

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