Localization mode with a previously built database

[blackapple]

Hello,
I'm a beginner with rtabmap, and I have some questions.I have created a database with rtabmap, and I want to do navigation with the database.When I choose  localization mode, as we known, RTAB-Map would localize itself in it by finding a loop closure, the current cloud will be aligned to the map.But I don't want the current cloud to be aligned to the created map, because the current cloud is so messy that it will break the original map. What can I do?

Another question is how can I know rtabmap has localized itself well in the localization mode from ROS code rather than in RVIZ?

I need your help. Many thanks.

[matlabbe]

Hi,

In localization mode, the map is "read-only", it should not break or add new stuff to the map.

To know if rtabmap has been localized,  TF /map -> /odom would change. A more direct way is to look if any of these values are not 0:

$ rostopic echo /rtabmap/info/loopClosureId
$ rostopic echo /rtabmap/info/proximityDetectionId

See rtabmap_ros/Info message for reference.

cheers,
Mathieu