Re: Robot stuck in it own footprint

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Robot-stuck-in-it-own-footprint-tp3301p3347.html

Hi,

The warning "control loop missed its desired rate of" is not coming from rtabmap. It may be the control loop of move_base, which is not "loop closure", but used to issue velocity commands at 15 Hz. Look at the CPU usage, if you have 100%, this may be the problem.

The rejected loop closure warning is just telling that it found a match, but could not compute the transformation because there are not enough visual inliers. This can be ignored most of the time, unless there is an obvious loop closure.

"The robot draw absolutely wrong map", do you have a screen shot?

cheers