Re: RTAB-map only for mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-map-only-for-mapping-tp1896p2853.html

Hi,

Having both gmapping and rtabmap running at the same time would add conflicts on TF (two nodes would publish /map ->/odom). Also, the maps from gmapping and rtabmap will not match together at some time. Normally, you have to choose between gmapping or rtabmap for mapping, as they are not compatible.

When activating neighbor link refining in rtabmap, TF /map ->/odom will be updated not only on loop closures, but also when links are refined (mostly always if refining succeeded).

cheers,
Mathieu