Map moving while mapping

Posted by Bill on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-moving-while-mapping-tp401.html

RTABMap is awsome - I've a simple iRobot create base, with Xtion and Neato XV-11 providing laser and RGB-D, and RTABMap is able to build nice 2D map 3D point cloud.  I run it in mapping mode but run navigation move_base node that maintain costmaps.  I figured out that when RTABMap is in localization mode the map doesn't change nor 'move around', but in mapping mode it moves so much it completely dis-aligned with costmap in matter of seconds.  I run it with laser enabled, and my odometry do need to be calibrated.  Is there an option that 'nails down' maps during mapping?  Does it make sense?