Re: Demo RTAB-Map on Turtlebot

Posted by jerry-qin on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Demo-RTAB-Map-on-Turtlebot-tp439p1122.html

Hi,

Mr. Labbe

Thank you for your advise.The warn information did't appear after I set the wait_for_transform:=1.
However,when I test the Localization mode,how can I know a loop closure is found. And there is a warning

[ WARN] (2016-03-10 15:18:30.401) Rtabmap.cpp:1755::process() Rejected loop closure 119 -> 680: Cannot compute transform (cor=161 corrRatio=0.251563/0.300000)

[ INFO] [1457594293.341621348]: Resizing costmap to 101 X 78 at 0.050000 m/pix
[ INFO] [1457594294.385955205]: Got new plan
[ INFO] [1457594294.547960122]: rtabmap: Rate=1.00s, Limit=0.700s, RTAB-Map=0.0461s, Pub=0.0017s (local map=12, WM=12)
[ INFO] [1457594295.385798558]: Got new plan
[ INFO] [1457594295.540673317]: rtabmap: Rate=1.00s, Limit=0.700s, RTAB-Map=0.0331s, Pub=0.0021s (local map=12, WM=12)
[ INFO] [1457594295.540852969]: Resizing costmap to 153 X 126 at 0.050000 m/pix
[ INFO] [1457594296.385806499]: Got new plan

Finally,the robot will reach the target and then turn around constantly.