Re: Demo RTAB-Map on Turtlebot

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Demo-RTAB-Map-on-Turtlebot-tp439p459.html

Hello Hideya,

1. I've updated the launch file with only "rtabmap.db" as database name, though I've also updated the code to show the full path of the database when its path is relative. By default "rtabmap.db" will be created here "~/.ros/rtabmap.db".

2. The error "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). " tells that the database is empty or there are not enough nodes in it. With STM=1 (including the new one added), it seems that the database is empty. Make sure to run in mapping mode to create a database/map enough big (>15 nodes) before launching again in localization mode.

Well, you can verify after the mapping session that the database is correctly created by looking inside using this tool:

$ rtabmap-databaseViewer ~/.ros/rtabmap.db

cheers,
Mathieu