Localization creates new map cloud

[marlu]

Hi there,

I try to run RTAB-Map in localization mode in the previously generated map. When I start the localization at the /map frame coordinates, the result is correct and localization runs smoothly. Although, when the localization is launched in a different part of the map, RTAB-MAP does not find a global position in the map and starts to create a new map cloud. Please, is there any setting that helps to avoid this? Is RTAB-Map supposed to find a position when launched anywhere in the map? Thanks.

[matlabbe]

marlu wrote

RTAB-MAP does not find a global position in the map and starts to create a new map cloud.

How did you launch in localization mode? (should be Mem/IncrementalMemory=false) It should never start a new mapping session in localization mode even if it cannot localize on startup.

To globally localize, you would need to move the robot to a location it can visually recognize. Manually, you can send `/rtabmap/initialpose` topic through RVIZ `2d pose estimate` button.

cheers,
Mathieu