Re: MapOptimizerNode: mapCorrection

Posted by KamalDSOberoi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/MapOptimizerNode-mapCorrection-tp1707p1740.html

Hi,

I tried to save the data in the rtabmap.db file, but was not able to view
it using rtabmap-databaseViewer. So I have attached the screenshots of the
problem. In the "info" field in rviz, we can see that it says that no loop
closure has been detected, but the /map -> /odom tf is not zero. When I
rotated the robot, /base_link rotated as expected. But after optimization,
the /map -> /odom became non zero, the point cloud was not combined
properly and /base_link became straight but /odom rotated. This is the
problem which I am facing.

Also could you please explain how we have to use the data recorder and
database viewer tools? When we have to start recording the data and how can
it be seen in the database viewer?

Regards,
Kamal