Noisy map RViz

[Luca.B]

Hi Mathieu, first of all I wanna thank you for this incredible package! Now, the problem I encountered is in mapping with Rviz: the resultant map is very noisy, but if I download the same .db in Rtabmapviz, the same map looks much better. And viceversa! I attach the .launch file I used and the screenshots of the resultant maps. demo_robot_mapping.launch Thank you!

[matlabbe]

Hi,

What is the fixed frame set in RVIZ global options? Set it to "map" if not already set to it.

Cheers,
Mathieu

[Luca.B]

It’s already set to “map”!

Luca

[matlabbe]

In rviz, is it MapCloud plugin that is used to show the cloud? what are its parameters?

I have difficulty to see in the screenshots if it is the alignment between the 2d and 3d maps, or it is the point cloud generated that you find noisy (alignment is the same on both rtabmapviz and rviz, but rendering is different). For the later, it would be mostly caused by MapCloud parameters or rtabmapviz Preferences->3D rendering map parameters.

cheers,
Mathieu

[Luca.B]

Yes, it’s the MapCloud plugin, connected to rtabamap/mapData topic. Its parameters are the default ones, and the “noisy thing” is the point cloud generated. So do I have to change MapCloud’s parameters to have the point cloud well defined as in Rtabmapviz?

[matlabbe]

Hi,

Try setting max depth to 4.

Cheers,
Mathieu