Hello - Our lab is beginning to experiment more with RTAB-Map on a robot, and we were wondering what role the laser play in functioning of RTAB-Map? In the documentation, laser was used to build the grid map, and during running it appear to improve the SLAM process, e.g. builds better aligned maps.
At the moment we only have Neato's XV-11 lidar that scans at lower frame rate - are there options used to configure laser characteristics, or requirements?
D) Activate local loop closure detection (very useful when you have a laser, that it can detect closures in reverse direction):
$ rosrun rtabmap_ros rtabmap --params | grep LocalLoopDetectionSpace
Param: RGBD/LocalLoopDetectionSpace = "false" [Detection over locations (in Working Memory) near in space.]
For the scan rate, it should be at least at the rate of RTAB-Map detection rate (which is 1 Hz be default). However, for the best synchronization of the messages in ROS, the higher the framerate, the better the laser scans will be aligned with the rgd/depth images and the odometry.