Re: MapOptimizerNode: mapCorrection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/MapOptimizerNode-mapCorrection-tp1707p1743.html

Hi,

If no loop closures are detected, it is the optimization side the problem (it is map_optimizer that publishes /map->/odom correction). Also, to which MapCloud are you subscribed? It seems you have 2 MapCloud plugins enabled in RVIZ. If you are optimizing outside rtabmap node, like with map_optimizer node, you have to subscribe to mapData_optimized instead of mapData.

Can you compare MapCloud output from rtabmap node (/rtabmap/mapData) and MapCloud output from map_optimizer (/rtabmap/mapData_optimized)?

cheers