Re: mapping when the robot make a turn

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/mapping-when-the-robot-make-a-turn-tp2907p2911.html

Hi,

which kind of odometry are you using?

-If rgbd_odometry is used, make sure your TF is accurately set (/base_link->/camera_link). Also, if you are using a Kinect v1, turning while extracting only visual features farther than 4 meters (more noisy) would result in bad odometry.

-If odometry is taken from the robot, try improving it (it is outside the scope of rtabmap).

cheers,
Mathieu