Fix ground plane to X-Y plane

[mjedmonds]

Hi,

I was wondering if there is a way to fix the map's ground to the X-Y plane. I realize this requires ground-plane detection, but being able to fix the map such that the ground of the map is fixed to the X-Y plane of the world?

I have a robot only moving on a plane with a fixed camera location; being able to ignore Z-translation (as that is not possible in this configuration) would be beneficial for waypoint registration in the map.

Thanks,
Mark

[matlabbe]

Yes,

You can force only 3DoF (x,y and yaw) registrations:

<node pkg="rtabmap_ros" type="rgbd_odometry" name="rgbd_odometry">
   <!-- Version 0.11 -->
   <param name="Reg/Force3DoF" type="string" value="true"/>

   <!-- Version 0.10 -->
   <param name="Odom/Force2D" type="string" value="true"/>
</node>

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
   <!-- Version 0.11 -->
   <param name="Reg/Force3DoF" type="string" value="true"/>
   <param name="Optimizer/Slam2D" type="string" value="true"/>

   <!-- Version 0.10 -->
   <param name="LccBow/Force2D" type="string" value="true"/>
   <param name="RGBD/OptimizeSlam2D" type="string" value="true"/>
</node>

EDIT: Added graph optimization limited to 3DoF too.

cheers

[mjedmonds]

Worked perfectly, thank you!