T265 and D435i rtabmap

[GBern14]

How can i sync T265 and D435i to make rtabmap using t365/odom/sample? I'm trying to do that but t265 imu timestamp isn't synchronized with d435i timestamp so i need to se approx_sync to true but with approx_sync i get bad results. Any suggestions?

Thanks

[MartyG]

The specialization of your question means that the RealSense ROS GitHub forum may be the best place to ask this question.

https://github.com/IntelRealSense/realsense-ros/issues

Having said that, I have recollection that aligning timestamps from depth and IMU streams can be tricky. Although the information in the link below relates to aligning depth and IMU data on a D435i, rather than between a D435i and T265, it may give useful technical insight about why timestamps may differ.

https://github.com/IntelRealSense/librealsense/issues/3205

There is also an article on using RTABMAP with a D435 and a Pixhawk (acting as the IMU) to align them.

https://answers.ros.org/question/317419/realsense-d435-rtabmap-pixhawk-imu-robot_localization/