How to change MinInliers

[acp]

Dear people.


I get the following warning:


Registration failed: "Not enough inliers 0/20


I just want to change the minimum number of 20 to 6

I have tried the following:

<--param name="Vis/MinInliers"  type="int"  value="6"/>


But when I run the roslaunch file I still see

Registration failed: "Not enough inliers 0/20



But when I run rosparam get  /rtabmap/Vis/MinInliers  I get 6.

It seems to be that the parameter Vis/MinInliers does not change the 20 in Registration failed: "Not enough inliers 0/20


Thank you :)

[matlabbe]

It depends for which step in the registration it is used (don't remember a hard-coded 20 though). You can show the full debug log with: "rosservice call /rtabmap/rtabmap/log_debug"

Is the warning coming from rtabmap or odometry node? For odometry, the parameter should be set for odomery node.

cheers,
Mathieu

[acp]

Hi Mthieu


Would you mind be a bit more especific,

1.-I mean I run rosservice call /rtabmap/rtabmap/log_debug and then what else.


2._How can I see if the warning is coming from odometry or rtabmap,


3.- My guess is that the warning is coming from rtabmap, because I am getting odometry using the ros package rf2o_laser_odometry, the when I run the rtabmap I get the warning and I do not have any 3D construction,  


4._ It is a way to disable that warning and have construction according to the odometry?



Thank you

[matlabbe]

Hi,

1. You would see green logs in the terminal that launched the rtabmap node.

2. Use rqt_console, it also shows from which file and which line

3. If you use external odometry, the message would indeed come from rtabmap node.

4. Even with the warning, if the warning is coming from rtabmap node, the map should still be constructed from your external odometry. Can you show your rqt_graph? One can suppress warning logs by changing the logger level for a specific node, but I don't recommend to suppress warning logs.

cheers,
Mathieu