Re: General questions about mapping and odometry

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/General-questions-about-mapping-and-odometry-tp3432p3473.html

I tried your covariance matrix (assuming they have always the same values), and I cannot reproduce the high covariance problem on my side. I tested with demo_mapping.bag by republishing the odometry messages with your covariance. Is the covariance fixed or changing over time? I refactored a little how covariance is copied from the odometry messages, though I don't think it would fix the problem.

Make sure the IMU is far from the motors (or magnetic parts) to avoid some strange rotation errors.

cheers,
Mathieu