Re: odom frame flickers when playing rtabmap with rosbag

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/odom-frame-flickers-when-playing-rtabmap-with-rosbag-tp228p229.html

The TF transform "/map -> /odom" is updated on loop closures. On map correction, the point cloud/grid map should be updated. If large odometry errors are corrected, the "/map -> /odom" transform will be large.

• If "RGBD/OptimizeFromGraphEnd" parameter is "false" (default), the map is corrected accordingly to first node of the map, updating "/map -> /odom" transform. It is the preferred mode when you want to keep the "/map" referential position where the robot has started mapping (like most SLAM algorithms).
• If "RGBD/OptimizeFromGraphEnd" parameter is "true", the map is corrected accordingly to last node of the map, so "/map -> /odom" transform will be always Identity since the map is corrected according to last odometry node. It is the preferred mode when there are multiple maps.