Re: Map Update

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Map-Update-tp4632p4658.html

Hi,

When switching to mapping mode, a new map is created. If no localization happens with the previous map, the new map will be disconnected from the other maps in the database. In database viewer under Graph view, you can choose the root node to optimize the graph. You can change the ID if you have maps not connected to each others to be able to show them. For example, I have one map with IDs 1 to 100, and another map with ids 101 to 200. If there are no loop closures found between the maps, setting root ID to 1 will show only the first map, and if set to 101, only the second map will be shown.

In RVIZ/rtabmapviz, they always show the latest map in the database.

cheers,
Mathieu