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Administrator
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Hi,
Well, I didn't see the update, though I should have seen the first version. It may have slip between other emails.
1) I meant "raw" the cloud set as input of obstacles_detection, then compare with the obstacles cloud output to see if people are removed or they were just not in the input cloud.
2) It may be axis color, open the display properties, you can change the color parameter for axis or fixed color.
3) Parameters in 3D Rendering panel are only for rtabmapviz visualization, they don't affect rtabmap node.
4) It looks like it is the /odom -> /base_link. Make sure that odometry is 3DoF if you want to stay 2D. If you map in 3D or 6DoF, well the odometry had some bad drift!
5) If you are using rgbd_odometry or stereo_odometry, set "Reg/Force3DoF" to "true" for rgbd_odometry too. When using rtabmap.launch, you can also just set rtabmap_args:="--Reg/Force3DoF true" and all nodes launched by rtabmap.launch will be using this parameter.
cheers,
Mathieu
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