Re: Drift and Odometry Issues with RTAB-Map (ROS2)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Drift-and-Odometry-Issues-with-RTAB-Map-ROS2-tp10761p10926.html


That gif is from the 3D Map view in rtabmap_viz. Normally the 3D point cloud and the graph (cyan) should be shown by default. You can enable the 2D occupancy grid under Preferences->Grid Map Assembling. You can enable gravity lines (yellow) under Preferences->3D Rendering->scroll all way down to enable "Show IMU filtered gravity." under Map column.