can rtabmap_ros don't optimize the yaw in 2d?

[mantouRobot]

Hi~
      can rtabmap don't optimize the yaw in 2d? Because I use a very precise IMU for the yaw. Which param should i to tune?
      Thank u~

[matlabbe]

How do you compute the odometry? If you want to fuse visual odometry and IMU, look at the robot_localization package, then set "yaw" parameter to false for the visual odometry config.

For 2D graph optimization, "yaw" is always corrected. You could revert all yaw values of the poses to original yaw values after graph optimization. Note that if your yaw is very precise, there should not be a lot of yaw correction anyway.

cheers

[mantouRobot]

Hi~
      I directly let the odom_yaw = imu_yaw; Is this fusion right? If right, I want to not correct the yaw when optimization.
      Thank u~

[matlabbe]

Well, if your yaw is always true (no drift, no error), then optimization would keep all yaws the same (because there is no error in yaw). The covariance used is diagonal only, so I don't think optimization approaches would modify the yaw to correct other degrees of freedom.