Posted by
Hideya Yamamura on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Demo-RTAB-Map-on-Turtlebot-tp439p457.html
Hi,
Mr. Labbe
Thank you for your advise.
1. Visualization mode:
I modified demo_turtlebot_mapping.launch file as follows because database_path does not create db file.
<arg name="database_path" default="~/.ros/rtabmap.db"/>
2. Localization mode:
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch localization:=true
: <snip> :
: <snip> :
/rtabmap/rtabmap subscribed to:
/camera/rgb/image_rect_color,
/camera/depth_registered/image_raw,
/camera/rgb/camera_info,
/scan
[ INFO] [1432634121.634731516]: rtabmap 0.9.0 started...
[ INFO] [1432634121.713520325]: Using plugin "static_layer"
[ INFO] [1432634121.800205591]: Requesting the map...
[ WARN] (2015-05-26 18:55:23.221) Memory.cpp:600::update() The working memory is empty and the memory is not incremental (Mem/IncrementalMemory=False), no loop closure can be detected! Please set Mem/IncrementalMemory=true to increase the memory with new images or decrease the STM size (which is 1 including the new one added).
[ INFO] [1432634123.222415833]: rtabmap: Rate=1.00s, Limit=0.700s, RTAB-Map=0.0193s, Pub=0.0000s (local map=0, WM=0)
: <snip> :
: <snip> :
Move the robot around for a while, but a loop closure is not found.
I appreciate any suggestions or comments.
Regards,
Hideya