Re: Map moving while mapping

Posted by Bill on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-moving-while-mapping-tp401p406.html

Thanks!!  It was the OptimizeFromGraphEnd - when I set that to True and run RTABMap in mapping mode, the navigation local costmap will get out of alignment whenever map get updated.  Setting that to false and map indeed get nailed down similar to hector mapping in slam mode.