MapOptimizerNode: mapCorrection

Posted by KamalDSOberoi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/MapOptimizerNode-mapCorrection-tp1707.html

Hi,

The problem which I think I told you about that when the robot rotates, the new point cloud is not combined with the old point cloud properly, is because after optimization the /map --> /odom tf is not zero. (False loop closure detection)

In map_optimizer node, the mapToOdom variable takes the value of mapCorrection. So my question is that what is the logic behind calculating mapCorrection? And how can this value be improved?

Thanks and Regards