Re: Lidar based 3d SLAM in sparse feature environment

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lidar-based-3d-SLAM-in-sparse-feature-environment-tp10174p10407.html

Hi,

The initial pose in SLAM mode is based on the first odometry topic received. icp_odometry would normally starts at (0,0,0) (0,0,0) or "initial_pose" if set, and reset_odom_to_pose service can be used to reset odom at at particular position. I didn't verified this, but using guess_frame_id at the same time should not matter.

cheers,
Mathieu