error in calculating the robot pose

Posted by KamalDSOberoi on
URL: http://official-rtab-map-forum.206.s1.nabble.com/error-in-calculating-the-robot-pose-tp1805.html

Hello,

I want to implement a scenario in which the robot moves in a square motion.

When the robot moves forward (in +x direction of map frame) it works fine. But when the robot rotates and moves in -x direction, the x value of the robot pose doesn't decrease due to which sometimes I get the wrong robot pose. Hence the mapCorrection in the map_optimizer node becomes erroneous and /map -> /odom tf becomes non zero.

What could be the issue according to you? I have just used the visual odometry withoutt IMU or wheel encoders, to calculate the robot pose. The output just relies on the images from kinect.  

Thanks and regards