Re: Obstacle Avoidance during map construction.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Obstacle-Avoidance-during-map-construction-tp1202p1208.html

Some questions:
1-What is your launch file?
2-Can you show rqt_graph?
3-Which version of rtabmap? (binaries 0.10 or source 0.11)

For odometry recovery, the default parameters (see Parameters.h (0.11)) require that the camera comes back to where it got lost to track again (to be consistent with the previous data). Another strategy is to set "Odom/ResetCountdown" > 0 so that odometry is reset to last pose when lost after some X frames (high variance 9999 is set for the first odom msg). When odometry is reset, rtabmap creates a new map. If you want rtabmap to start a new map only after it is has been localized with the first map (so it is like continuing the previous map), you can set "Rtabmap/StartNewMapOnLoopClosure" to true.

Note that g2o optimization handles badly multi session mapping. You may want to set "Optimizer/Strategy" to 0 (TORO) or 2 (GTSAM if available).

cheers