Re: 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-tp1805p1810.html

Hi,

No I rotate the robot by 90 degrees then move forward and then again rotate 90 degrees then move forward. And in the rtabmap_ros/Info plugin it says loop closures to be zero.

That means without loop closure, /map -> /odom tf becomes non zero. The problem is in optimization process. If I dont update /map -> /odom tf in map_optimizer node and subscribe to mapData topic in rviz, everything works fine.

What I want to do is to not optimize the graph at each step but optimize only when loop closure has been detected. According to you, is this is a good idea?

Thanks and regards