Re: Limiting Localization to Stay Within Map Boundaries in RTAB-Map

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Limiting-Localization-to-Stay-Within-Map-Boundaries-in-RTAB-Map-tp10846p10854.html


The /rtabmap/localization_pose topic would publish a pose with covariance. If the robot didn't localize for a while the covariance should grow over time, and only shrink when a re-loclaization happens. You may monitor that covariance to know if the robot is "lost" (i.e., if variance > some threshold).

Are you using only cameras, lidar or both? Ideally, we would want to make sure rtabmap is able to re-localize periodically to avoid this issue.