Re: Map Optimized before Loop Closure detected

Posted by KamalDSOberoi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-Optimized-before-Loop-Closure-detected-tp1409p1479.html

Hi,

Sorry for the late reply. I was trying to solve some other problem.

I checked the Hand-held tutorial with MapCloud plugin in RVIZ subscribed to /rtabmap/cloud_map. I got an error that
Client [/rviz] wants topic /rtabmap/cloud_map to have datatype/md5sum
[rtabmap_ros/MapData/150da8e574f437839a50106f27c0e364], but our version has [sensor_msgs/PointCloud2/1158d486dd51d683ce2f1be655c3c181]. Dropping connection.

If I use /rtabmap/mapData, then I get the assembled cloud in RVIZ. It works fine but when a loop closure is detected, the position of "odom" changes randomly. Also if after moving the robot for sometime, I detect a loop closure and dont move the robot again, it keeps on detecting the loop closures at the same position. Shouldn't it just detect the loop closure only once?

Also what if I have two sources for computing the robot pose and I want to visualize both in RVIZ and not combine them, say using EKF. So there will be two transformations for odom->base, one from kinect and one from other source. How can I do that? Any idea?


Thanks a lot for your help.

Best Reagards