Hi,
I am a new rtabmap_ros user, so I don't have much knowledge regarding the same.
This is my launch file and parameters:
LAUNCH FILE:
<launch>
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="-d">
<rosparam command="load" file="$(find rtabmap_pkg)/params.yaml" />
<!-- Remap topics -->
<remap from="/odom" to="/robot_control/odom" />
<remap from="/scan_cloud" to="/velodyne_points" />
<remap from="/left/image_rect" to="/zed/left/image_raw" />
<remap from="/right/image_rect" to="/zed/right/image_raw" />
<remap from="/left/camera_info" to="/zed/left/camera_info" />
<remap from="/right/camera_info" to="/zed/right/camera_info" />
<!-- <remap from="rgb/image" to="/zed/left/image_raw"/>
<remap from="rgb/camera_info" to="/zed/left/camera_info"/> -->
<!-- localization mode -->
<!-- <param name="Mem/IncrementalMemory" type="string" value="false" />
<param name="Mem/InitWMWithAllNodes" type="string" value="false" /> -->
</node>
</launch>
PARAMS FILE:
subscribe_depth: false
subscribe_rgbd: false
subscribe_scan: false
subscribe_scan_cloud: true
subscribe_stereo: true
frame_id: base_link
approx_sync: true
Grid/FromDepth: true
Grid/3D: false
This is the warning I got:
[ WARN] (2021-01-26 13:57:23.353) Memory.cpp:915::addSignatureToStm() Very large angular variance (0.100000) detected! Please fix odometry covariance, otherwise, poor graph optimizations are expected and wrong loop closure detections creating a lot of errors in the map could be accepted. This message is only printed once.
Also, this is setup isn't giving a proper mapping at /grid_map.
Please provide a solution and let me know if you need anything else.
Locked
