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Administrator
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Hi,
If your environment is dynamic (in particular the structure of the environment, not the objects), you may switch to mapping mode to update the map when you detect a change or use always the mapping mode. Note that if it is only people or some small objects that move often, local navigation should be able to handle this even if you have a static map.
The localization mode is a read-only mode so that you can be sure that the initial map will be always static (like the gmapping/AMCL ROS demos). In many cases, it is easier to debug navigation that way, and the system is more predictable as it is not learning new stuff anymore.
You can use rtabmap in SLAM mode continuously, but more processing power would be required over time until the memory management starts doing its job, from then you will have to manage the case where some parts of the environments would not be available online, which requires some advanced knowledge of what is going on.
cheers,
Mathieu
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