Hello,
I wanted to use ROS2 Foxy to run SLAM and create a map of an indoor environment on RViz2. Initially, I tried using /tof_pc to get point cloud data, but it seems this topic doesn’t account for the UAV’s position and orientation (Starling 2). As a result, the point cloud data kept appending to itself incorrectly, and I couldn’t generate a usable map.
Could you clarify:
- What sensors are fused or used in /voa_pc_out?
- Does /voa_pc_out compensate for UAV movement, and is this topic alone sufficient for mapping an area?
- What topic combinations would you recommend for:
i) LiDAR SLAM
ii) Visual SLAM
For example:
a) imu_apps + tof_pc
b) voa_pc_out
c) tracking cameras + imu_apps
d) any other combination
Thanks,
George