how to fix MAP reference?!

[Masoumeh]

Hi Mattieu,

I have one question about the reference of the Map created by Rtabmap. The problem is that when I am in localization mode, and I want to specify a fixed goal for the vehicle, each time the coordinate of this goal is different.
I mean every time that I launch rtabmap, I have to extract the coordinate of that goal, so it seems that the reference of the map is not fixed and every time changes, because of this the coordinate of the specified location, every time changes.

How can I fix this issue?
thanks alot

[Masoumeh]

Dear Mattieu,

Would you please help me to solve this issue?

Thanks  a lot

[matlabbe]

Is the robot localized in the map? Make sure RGBD/OptimizeFromGraphEnd is false.