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-tp1171p1198.html

Hi,

Yes, it is probably because the laser scanner is mounted upside down. The empty space is not filled in the good direction. In that case, "map_negative_poses_ignored" should be set to true. Maybe I should set "map_negative_poses_ignored" default to true (I opened an issue).

I tested with your parameters and I reproduced the problem (I hope it is). You have to set "map_filter_radius" to 0 in order to disable node filtering when creating maps:

<param name="map_filter_radius"  type="double" value="0"/>

When the robot is moving, it seems it is not always the same nodes that are filtered (maybe because of numerical precision), so the generated grid maps can slightly be different. I tested with demo_mapping.bag, your parameters (in localization mode) and "map_filter_radius=0", and the map doesn't change anymore.

Hope it will fix your problem,
cheers