Re: RTABMAP external odometry disable or reduce optimization besides loop closures

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTABMAP-external-odometry-disable-or-reduce-optimization-besides-loop-closures-tp11078p11089.html

Hi Gilbert,

Is icp_odometry used? don't use icp_odometry and you could just send the deskewed lidar scan with the external odom frame id to rtabmap node.

If icp_odometry is not used and the map is drifting in Z while the odometry input is not, it could be caused by the IMU. Try not sending imu topic to rtabmap and see if there is a difference.

cheers,
Mathieu