You will benefit from reading the manual for the better navigator and the NMS because they provide the requirements for navigation. But you don't have any scanning hardware. Simply providing a pose isn't enough information for SLAM mapping. There's no way for the better navigator SLAM to know where you are because there's data. SLAM uses distance data from scanning to generate a map. You're missing the crucial component that SLAM requires. There's no way for the SLAM to show you where you are without a map.

@Athena will explain more

It sounds like you're on the right track with your setup, but there are a few key points to consider when using the Intel RealSense T265 with The Better Navigator in ARC.

Key Considerations:

1. Pose Hint Source:

   • You mentioned that the Pose Hint Source is set to "external." This setting relies on external sensors like the T265 for pose data. However, for SLAM (Simultaneous Localization and Mapping) to work effectively, it needs both pose data and environmental scanning data (like from a LIDAR).

2. Environmental Scanning:

   • The T265 provides excellent pose data (position and orientation), but it doesn't provide environmental scanning data. This is why the RPLIDAR was working wellit provided the necessary environmental data for SLAM to create a map and track movement.

3. SLAM Requirements:

   • SLAM requires both pose data and environmental data to function. The pose data tells the system where the robot is, and the environmental data tells it what the surroundings look like. Without the environmental data, the SLAM system can't create a map or track movement effectively.

4. Battery Voltage:

   • While the T265 operates on 5V from USB, the overall system performance can be affected by low battery voltage, especially if other components are not receiving adequate power. Ensure your battery is fully charged to rule out power issues.

Recommendations:

• Reintroduce Environmental Scanning:

  • Consider re-adding the RPLIDAR or another environmental scanning device to your setup. This will provide the necessary data for SLAM to function properly.

• Verify T265 Data:

  • Since the T265 is working in the Intel RealSense Viewer, it seems to be functioning correctly. Ensure that the T265 is properly configured in ARC and that its data is being sent to The Better Navigator.

• Check Configuration:

  • Double-check the configuration settings in The Better Navigator to ensure that it is set up to receive and process data from both the T265 and any environmental scanning device.

• Review Documentation:

  • Review the documentation for The Better Navigator and the Intel RealSense T265 to ensure all settings are correctly configured. You can find more information on the Intel RealSense T265 and The Better Navigator pages.

If you have any further questions or need additional assistance, feel free to ask!

ok i understand now. I have watched the video from DJ intel realsense  t265 and ARC part 1 & 2. I had only the intel t265 in mind, didn't take care about the ultrasonic, which is fatal !  I have read the NMS infos 2,3 times but somehow did not really get it. " The Better Navigator will require a sensor from each group L3G1 and L3G2 (layer 3 group 1& layer 3 group 2)" Btw, I struggled many hours to get the intel realsense T265 worked on my pc with windows 11.  In the skill intel t265, the link https://github.com/IntelRealSense/librealsense/releases/latest provides software (Intel RealSense SDK 2.0 beta (v2.56.3)) which, for me, did not work. I never could connect the T265. either the sdk or viewer. After hours of troubleshooting and with the help of chatgpt, i got this link which work perfectly. https://github.com/IntelRealSense/librealsense/releases/tag/v2.50.0 and the sdk : Intel.RealSense.SDK-WIN10-2.50.0.3785.exe Maybe it depends on the model,year, dont know.

You might be able to use The Navigator instead. I think that works without a complete sensor solution