Re: Lidar based 3d SLAM in sparse feature environment

Posted by Gi_T on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lidar-based-3d-SLAM-in-sparse-feature-environment-tp10174p10381.html

Regarding initialization of the initial pose in SLAM mode. Is there any way to set the initial pose to xyz=0,0,0 and rpy=0,0,0 similar to <arg name="initial_pose"  default="0 0 0 0 0 0"/> in localization mode? Currently it always takes the pose estimate from /mavros/imu/data which means map x axis is not aligned with the starting position of the drone.

Cheers,
Gilbert