Re: Trajectory Generation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Trajectory-Generation-tp192p2787.html

Hi,

"the node poses" is coming from where exactly? Loop closures optimize the graph, so yes each pose of the graph will be moved on correction. If you are using planning capability of rtabmap, the current goal will be re-sent to move_base with the corrected position.

cheers,
Mathieu