Visual SLAM Development Tasks

[yuhsiang1117]

This issue tracks the development and evaluation of Visual SLAM functionality using ROS2 and RTAB-Map.

1. Implement visual SLAM using ROS2 RTAB-Map

   • Setup RTAB-Map environment in ROS2.
   • Configure camera input, odometry, and mapping modules.
   • Verify mapping visualization with RViz or Foxglove.

2. Test the performance of the SLAM system

   • Evaluate mapping quality, loop closure, and accuracy.
   • Test in different environments and lighting conditions.
   • Record performance metrics (drift, stability, FPS, memory usage).

3. Assess feasibility of integrating navigation system

   • Check compatibility with Nav2 or other navigation frameworks.
   • Evaluate required map quality and localization stability.
   • Determine integration workflow if SLAM results are satisfactory.

This feature is categorized as an R&D project, and will be suspended if no satisfactory result is achieved before Jan 9.

If you have any questions or ideas, please feel free to bring them up as soon as possible.