Re: Integrate external markers from apriltag_ros with Priors

Posted by fboris on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Integrate-external-markers-from-apriltag-ros-with-Priors-tp10358p10437.html

Mathieu,
Thanks for your explaination. Yes, I want a consistent map for both navigation and visualization. For example, I want the robot to go (3,0,0) all the time.
For the idea you proposed,
1) keep track of the landmarks and add their constraints in graph optimization
2) add a "Link::kVirtualClosure" link to oldest node in the local graph
what is proper way to implement 1?

Another things, what is the complete command you were using for testing my dataset? I'm also checking detail how  to implement as you said.

Best,
fboris