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Odometry is changing at a faster rate with intelrealsense d435 while using orb_slam2_ros
2 projects | /r/ROS | 28 Feb 2022

I have compiled [this repository](https://github.com/appliedAI-Initiative/orb_slam_2_ros) on nvidia jetson nano and it has been successfully built inside my catkin workspace. I have double checked the rosnode list and topics subscribed and published by nodes and they are all good. When I launched the file `roslaunch orb_slam2_ros orb_slam2_d435_rgbd.launch` and try to see the `/orb_slam2_rgbd/pose` topic, the pose looks quite unstable and changing at a faster rate (you can see inside the video attached) while the robot is static. I have attached the tf tree in this issue [frames.pdf](https://github.com/appliedAI-Initiative/orb_slam_2_ros/files/8130863/frames.pdf) and a video link [here](https://drive.google.com/file/d/1nU13ZrD_oXfTAPqC75yUB4uY-FzfR1dC/view?usp=sharing).

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9 months ago

appliedAI-Initiative/orb_slam_2_ros is an open source project licensed under GNU General Public License v3.0 or later which is an OSI approved license.

The primary programming language of orb_slam_2_ros is C++.

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