Re: Integrate artificial landmarks with RTAB-Map

Posted by KamalDSOberoi on Aug 10, 2016; 3:13pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Integrate-artificial-landmarks-with-RTAB-Map-tp1586p1671.html

Hi,

Now I have removed the error handler which I wrote and I am getting this error. To find a solution I need to understand how the poses and links are created.

In map_optimizer node, as soon as I receive the mapData and the mapDataCallback() function is executed, I check the number of nodes and links present in the mapData. There itself I see that poses=2 and links=0, hence the error.

So where are the nodes and links created and added to the mapData and mapGraph, which is received in map_optimizer node? In CoreWrapper.cpp, there is a callback function publishMapCallback(), in which I thought that nodes and links are created. But this callback is never executed. Instead, in my opinion, publishStats() publishes the mapData and mapGraph. Am I right?

Where should I check for the root of this error? The landmark nodes for the artificial landmarks are created in map_optimizer node. I dont think that this error is because of that. What do you say?

Thanks for the help!!

Regards