Re: rtabmap_ros produce cloud_map error

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-produce-cloud-map-error-tp1615p1638.html

Well, if the odometry is drifting, the point cloud will too. On loop closure, the drift should be decreased.

If you have a laser scan, you can activate ICP refining to reduce odometry drift, see this setup: http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_Odometry_.2B-_2D_laser

Make sure that TF between your frame used for odometry and the camera is also precise.

cheers