Re: Integrate artificial landmarks with RTAB-Map

Posted by KamalDSOberoi on Aug 02, 2016; 1:33pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Integrate-artificial-landmarks-with-RTAB-Map-tp1586p1612.html

Hi,

So I made some tests and I found out why map_optimizer is crashing. In map_optimizer node, when the mapData is received and the callback function is executed, I verify the msg->graph.links.size() and msg->nodes.size(), which is received in the mapData.

Sometimes it so happens that even when the robot is stationary, the msg->nodes.size() = 2 and msg->graph.links.size() = 0. This doesn't give any error but the crashes the node. Actually this should be msg->nodes.size() = 1 and msg->graph.links.size() = 0. When the robot moves and new mapData is received, then msg->nodes.size() = 2 and msg->graph.links.size() = 1.

What do you think about this?

Regards