RE: Re: Rtabmap mapping done but can't do relocalization

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-done-but-can-t-do-relocalization-tp1257p1268.html

Hi,

1) The problem is mainly the first warning. Well, it is not super clear, but it means that ICP has under 30% correspondences when registering the fake laser scans from the kinect. You can either disable ICP refining or decrease the acceptance threshold. I think you are on version 0.10 as the default value is 30% (on 0.11 it is 20%), I'll give corresponding parameters for 0.10 and 0.11:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">

   <!-- Disable ICP refining -->
   <!-- v0.10 --> <param name="LccIcp/Type"  type="string" value="0"/> <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
   <!-- v0.11 --> <param name="Reg/Strategy" type="string" value="0"/> <!-- 0=Vis, 1=Icp, 2=VisIcp -->

   <!-- Decrease ICP correspondence ratio to 15% for example -->
   <!-- v0.10 --> <param name="LccIcp2/CorrespondenceRatio" type="string" value="0.15"/>
   <!-- v0.11 --> <param name="Icp/CorrespondenceRatio"     type="string" value="0.15"/>

</node>

2) For the second warning, this is a correct one, there are just not enough visual correspondences to compute a good transformation between the two point of view, so the loop closure is rejected.

3) The third warning could be fixed following the "almost hidden" comment at the bottom of the tutorial page:

If there are many TF warnings, you can try to increase robot_state_publisher's publishing frequency in turtlebot_bringup/launch/includes/robot.launch.xml from 5 to 10 Hz.

cheers,
Mathieu