Re: MapGraph erroneous values

Posted by Alexandru Iftimie on
URL: http://official-rtab-map-forum.206.s1.nabble.com/MapGraph-erroneous-values-tp4179p4197.html

The problem is that the robot is constantly moving, the position is updated correctly in Rviz, but from time to time I get from /rtabmap/MapGraph topic those values (3.2539, 0.1011).

The configuration of the robot is the following: Turtlebot with Orbbec Astra and RPlidar A1.

In demo_turtlebot_mapping.launch I added the following lines as I remember:
<node pkg="tf" type="static_transform_publisher" name="link1_broadcaster" args="0 0 0 0 0 0 base_footprint laser 100"/>
<remap from="/rtabmap/goal_out" to="/move_base_simple/goal"/>

And I start the rtabmap node in localization mode:
roslaunch rtabmap_ros demo_turtlebot_mapping.launch wait_for_transform:=1 localization:=true

From my last post I decided to give up taking X Y values from /rtabmap/MapGraph topic and now I am taking the values from nav_msgs/local_costmap/costmap. Is that topic reliable?

Thank you