Re: Improving wall alignment in demo_mapping.bag example

Posted by Pi Robot on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Improving-wall-alignment-in-demo-mapping-bag-example-tp1766p1774.html

Many thanks Matt.  Running demo_robot_mapping.launch worked perfectly so I checked the parameters I was using in my mapping launch file and it appears some of them are out of date (probably from when I was using ROS Hydro.)  So I copied over the parameters from the demo_robot_mapping.launch file and I should be good to go.

Just for the record, here are the parameters I was setting in my older launch file:

<param name="RGBD/PoseScanMatching" type="string" value="true"/>  <!-- Do odometry correction with consecutive laser scans -->
<param name="RGBD/LocalLoopDetectionSpace" type="string" value="true"/>  <!-- Local loop closure detection (using estimated position) with locations in WM -->
<param name="RGBD/LocalLoopDetectionTime" type="string" value="false"/>   <!-- Local loop closure detection with locations in STM -->
<param name="LccIcp/Type" type="string" value="2"/>                      <!-- 0=No ICP, 1=ICP 3D, 2=ICP 2D -->
<param name="LccBow/InlierDistance" type="string" value="0.1"/>          <!-- 3D visual words correspondence distance -->
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>    <!-- Optimize graph from initial node so /map -> /odom transform will be generated -->

--patrick