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-tp1805p1830.html

Hi,

Yes, map_optimizer doesn't know when there is a loop closure detected, so it always optimizes it. Well, this could be detected by looking if a new loop closure link has been added to the graph.

Note that rtabmap node's optimization should be disabled if you are using map_optimizer.

cheers