RTAB-Map using with EKF and map resolution issues

Posted by herbert on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-using-with-EKF-and-map-resolution-issues-tp10884.html

Hi Mathieu,

I am using RTAB-Map with Nav2, and I’m encountering a few issues during testing. Specifically, I’m experiencing map jittering while using RTAB for localization. I found a post suggesting that I can fuse the RTAB localization pose with the wheel odometry and IMU data using the robot_localization node to improve the situation.
http://official-rtab-map-forum.206.s1.nabble.com/Filtering-rtabmap-localization-jumps-with-robot-localization-in-2D-td5931.html

I followed the instructions to set 'publish_tf' to false, but I still see RTAB-Map publishing the /map topic. My question is: how can I completely stop RTAB-Map from publishing the /map topic? Also, the /map topic is of type nav_msgs/msg/OccupancyGrid; is that the contant same as from the topic /grid_prob_map?

Additionally, I would like to enhance the navigation results by using a higher resolution map. However, when I set 'Grid/CellSize' lower than 0.05, RTAB-Map crashes. Is there any way to reduce the CellSize below 0.05?

Best,  
Herbert