Re: Combining RTAB-Map with the navigation stack

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Combining-RTAB-Map-with-the-navigation-stack-tp1171p1179.html

Hi,

1) Which version do you use (binaries or latest from source)? Indeed, in localization mode and if "RGBD/OptimizeFromGraphEnd=false" (default), the map should not change unless a) the local map doesn't contain all nodes of the global map or b) current scan is added to map (probably your case).

a) when nodes are brought back from LTM to WM, the map should be optimized again. If you have "Rtabmap/TimeThr=0", this should not happen as all nodes will stay in WM. If it is set, in localization mode you can force to use all nodes from LTM with "Mem/InitWMWithAllNodes=true" (e.g., like demo_turtlebot_mapping.launch):

<param     if="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="false"/>
<param unless="$(arg localization)" name="Mem/IncrementalMemory" type="string" value="true"/>
<param name="Mem/InitWMWithAllNodes" type="string" value="$(arg localization)"/> 

b) the latest scan is added to map (clearing occupied cells in front of the robot if obstacles are gone), which would cause a map resize if the robot approaches the side of the grid map. I added a new issue to avoid regenerating/publishing maps if they have not changed:


2) This should be fixed by this commit (18 days ago): https://github.com/introlab/rtabmap/commit/152d47e62af3c19f9d3cc2f26cd15651351a372b
If you have already this commit, please let me know.

cheers,
Mathieu