rtabmap initially runs fine for a while then it flickers because the odom frame of my robot jumps. I am new to rtabmap and not sure how to stop odom frame from flickering. The following is my setup for rtabmap package:
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
param name="database_path" type="string" value="$(arg database_path)"
param name="frame_id" type="string" value="robot_footprint"
param name="odom_frame_id" type="string" value="odom"
param name="subscribe_depth" type="bool" value="true"
param name="subscribe_scan" type="bool" value="true"
remap from="scan" to="/scan"
remap from="rgb/image" to="$(arg rgb_topic)"
remap from="depth/image" to="$(arg depth_topic)"
remap from="rgb/camera_info" to="$(arg camera_info_topic)"
remap from="grid_map" to="/map"
param name="Rtabmap/DetectionRate" type="string" value="1"
param name="Reg/Force3DoF" type="string" value="true"
<param name="Kp/DetectorStrategy" type="string" value="0"
<param name="Kp/MaxFeatures" type="string" value="400"
<param name="SURF/HessianThreshold" type="string" value="100
<param name="Reg/Strategy" type="string" value="0"
<param name="Vis/MinInliers" type="string" value="30"
<param name="Mem/NotLinkedNodesKept" type="string" value="false"
</node>
Thanks in advance!
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