about the localization model param

[mantouRobot]

Hi~
      i checkout to the indigo-branch, and set the param "localization" = true, the "Mem/IncrementalMemory" = false and "Mem/InitWMWithAllNodes" = true as before, but occur the warn "Memory.cpp:588::update() The working memory is empty and the memory is not incremental (Mem/IncrementalMemory=False), no loop closure can be detected! Please set Mem/IncrementalMemory=true to increase the memory with new images or decrease the STM size (which is 1 including the new one added).
      Can u give me some advice ? Thank u~

[matlabbe]

Hi,

this is a recent bug fixed in https://github.com/introlab/rtabmap_ros/commit/9a8538711ddcaf8895ab6dcdd54f2d92c9c6c674

cheers

[mantouRobot]

Hi,
      i am in the indigo-branch...is't the same?

[matlabbe]

Sorry I read to fast. The bug above is for latest code from master branch. This bug is not in indigo-devel branch, so the error you have is simply that there is no map in the database. You should do a mapping session before doing localization.

For info, the indigo-devel branch is synchronized with the current Indigo binaries (0.11.8), not the master branch. Same for jade-devel and kinetic-devel branches.

[mantouRobot]

Hi~
      But I have the map data in the ~/.ros/rtabmap.db, the path param is also right. Any advice?
      Thank u~

[mantouRobot]

Hi~
      I found that when I fake up the rtabmapviz and after mapping switch to localization, it's all right. But when I start localization after mapping through launch by params switch, the error occur. Can u give me some advice?
      Thank u~

[matlabbe]

Make sure that "--delete_db_on_start" argument is not set when starting in localization mode. What is the terminal output (showing all initialization stuff)?