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-tp1171p1190.html

Hi Ian,

1) I added "map_negative_poses_ignored" (boolean) parameter to rtabmap node (see this commit). If you set this parameter to true and rtabmap is in localization mode, the generated map should not change anymore because of 1-b) (see my previous post).

2) Well, if you set "map_negative_poses_ignored" to true, this problem should not happen anymore as the last scan will not be added to the map. Otherwise, you can try to uncomment these lines to see if the unknown cells are filled in the wrong side (if laser scanner is rotating clockwise or counterclockwise).

cheers