Re: Rtabmap.cpp warning has been encourted while executing the gazebo

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-cpp-warning-has-been-encourted-while-executing-the-gazebo-tp2339p2346.html

Hi,

With laser scans created from kinect, because of the limited field of view, I recommend to disable local scan matching for proximity detection:

<param name="RGBD/ProximityPathMaxNeighbors" type="string" value="0"/> 

If you are on 0.11.8, disable the whole proximity detection:

<param name="RGBD/ProximityBySpace" type="string" value="false"/> 

cheers,
Mathieu