2D estimate position

[aviadoz]

Hi,

Is there an option to give "2D Pose Estimation" manually or automatically or something like that?
I do some tests outdoor on grass for agricultural experiment and my odometry drift are bigger than in my lab, of course.
After a few turnings (still in mapping mode), when the robot returned to a mapped area, the map was built with some shift, that makes sense but very problematic for me.
 
So, I have an idea to give the real position of the robot by me, every constant distance.
Or to separate the mapping. Maybe I need to use odom_fram parameter instead odom topic?
Do you think maybe about another solution?

Thanks,
Aviad

[matlabbe]

Hi Aviad,

If you rely solely on SLAM in mapping mode, you would have to make trajectories to maximize loop closure detection in order to correct the drift.

A complementary approach is to improve your odometry or use one more robust to your application.

2D Pose Estimate (from RVIZ button, with topic is remapped to /rtabmap/initialpose) is used by rtabmap only in localization mode, we cannot set manual localization during mapping. To corrections would have to be included in the odometry input, though accumulated errors up to there won't be corrected.

cheers,
Mathieu