Re: laser scan error

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/laser-scan-error-tp1007p1013.html

Hi,

The depth2d empty errors are because "LccIcp/Type"=1 (ICP 2D with laser scans). Set "LccIcp/Type" to 0 (or remove it from the launch file):

<param name="LccIcp/Type" type="string" value="0"/>

"LccIcp/Type"=2 (ICP 3D with depth images) is not recommended with the current rtabmap version, as it can be difficult to correctly set its related parameters.

Well, if you are going to do 2D navigation and you have a laser, I recommend to use it (and keep "LccIcp/Type"=1 for rtabmap node). Probably set "Odom/Force2D"=true for rgbd_odometry node, this will ignore odometry errors in z/roll/pitch.

The odometry is lost, what kind of environment are you trying to map? empty space? no/low textures? You can also try with argument "estimation"=1 of your launch file:

<arg name="estimation"          default="0" />       <!-- Motion estimation approach: 0:3D->3D, 1:3D->2D (PnP) -->

cheers