Re: 2d Map Editor in database viewer save issue

Posted by mrrobot on
URL: http://official-rtab-map-forum.206.s1.nabble.com/2d-Map-Editor-in-database-viewer-save-issue-tp7443p10181.html

Hi

I am facing similar issue with the latest RTABMAP on ROS2 Humble. Below are the database files and corresponding screen shots.


- When mapped


https://drive.google.com/file/d/1EunzWWneflGMYX5TK6O0w41LdpUZXoB_/view?usp=sharing

- When Edited


https://drive.google.com/file/d/1T4YJH5CloISOKemO6zf41jgYZnnsUXhT/view?usp=sharing

- When Ran with localization


https://drive.google.com/file/d/1BiL7HWuvU8B3YAe-1FBvmX5b1dc8LqHS/view?usp=sharing

launch paramters:

    parameters={
          'frame_id':'base_footprint',
          'subscribe_stereo':True,
          'subscribe_odom_info':True,
          'wait_imu_to_init':True,
          'qos_image':qos,
          'qos_imu':qos,
          'Reg/Force3DoF':'true',
          'Grid/RayTracing':'true',
          }



        Node(
            package='rtabmap_odom', executable='stereo_odometry', output='screen',
            parameters=[parameters],
            remappings=remappings),

        # SLAM mode:
        Node(
            condition=UnlessCondition(localization),
            package='rtabmap_slam', executable='rtabmap', output='screen',
            parameters=[parameters],
            remappings=remappings,
            arguments=['-d']), # This will delete the previous database (~/.ros/rtabmap.db)

        # Localization mode:
        Node(
            condition=IfCondition(localization),
            package='rtabmap_slam', executable='rtabmap', output='screen',
            parameters=[parameters,
              {'Mem/IncrementalMemory':'False',
               'Mem/InitWMWithAllNodes':'True'}],
            remappings=remappings),


I uploaded db files for all the cases. It used to work good with previous versions. But now suddenly it stopped working. 'Mem/IncrementalMemory':'False', 'Mem/InitWMWithAllNodes':'True'