Re: Rtabmap mapping with two cameras

Posted by adr_arroyo on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-mapping-with-two-cameras-tp2662p2669.html

Thanks again for the answer.
I actually found the same problem myself, those two nodes were disturbing each other so the rtabmap was going crazy.
Also some of the parameters were not configured properly, as you have said.
I leave attached my last launch file in case anyone runs into the same problem since it is working now: rtabmap.launch

However I still have some trouble with the mapping since it seems that the laser is in the other way as it should be, I mean, the grid map that rtabmap does around the robot points to the back of the robot instead of the front. I do not know why it is happening.

Cheers, Adrian

[EDIT]
I have added the parameter: param name="map_negative_poses_ignored" type="bool" value="true"/> and now the grid map looks like this  but it appears a black line in front of the robot and I do not know what this is. Besides I have the warning [pcl::IterativeClosestPoint::computeTransformation] Not enough correspondences found. Relax your threshold parameters every time I move the robot.