Re: error in calculating the robot pose

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/error-in-calculating-the-robot-pose-tp1805p1812.html

Even if you optimize at every frames, /map -> /odom should stay null if no loop closures were detected. If each node in the graph is linked to only its neighbors, the graph after optimization would look exactly the same as the input (unless you activated "RGBD/NeighborLinkRefining", which can change edge transformations).

But yes, you can optimize only when a loop closure is added (this what rtabmap node does). You may subscribe to rtabmap/info message to know when a loop closure is detected.

cheers