Hi everybody, I'm working on RTABMAP and updating the extraction of map. In my work, I will obtain map of the area using RTABMAP at the same time I will detect and recognize the traffic sign of the object. Besides these works, I must be update the map. For example, in the first version of the map let us say I found 8 traffic sign. I found these object, locations of the object on the map (with the help of Mr.Labbe) and extract the map with these sign locations. I will use these sign locations and map data extracted by RTABMAP in navigation. After amount of time passed, environment changed as 9 sign for example. One sign added from authorities. In the navigation mode, my robot realized this difference and it must be update the map.
My problem begins here. When I call
rtabmap node in mapping mode and using teleop package, I can extract map with 8 sign object which is holding
130 mb database located at
~/.ros/rtabmap.db. Using this
rtabmap.db, I call
rtabmap node in localization mode and I control robot using teleop package to perform a task. In this mode, robot checking environment and when it realize added sign, automatically it called
rtabmap/set_mode_mapping
service. After these service called, database size increased
135 mb located at
~/.ros/rtabmap.db. So far everything is normal. Problem is, when I called 135 mb map data which name is
rtabmap.db in RVIZ or RTABMAPVIZ, these tools only show last 5 mb updated map. How can I show or obtain updated map data?
P.S: I'm working only on simulated environment and robot in GAZEBO.
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