Re: rtabmap_ros odometry reset

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ros-odometry-reset-tp4633p4659.html

Hi,

The service /reset_odometry resets odom to 0. If you know the pose you want to reset odom, you can call /reset_odom_to_pose service. However, if you just want to automatically reset odom to last pose, set parameter "Odom/ResetCountdown" to 1. Rtabmap will still create a new map, so a loop closure should happen to merge back with the a previous map.

Odometry topic is in /odom frame, not /map frame. If you want to plan in /map frame, I suggest to subscribe to TF /map -> /base_link to know current position of the car in /map frame. Odometry can then restart to any values, as long as the car is localized in the map, the poses in /map frame will be always the same between sessions. You may use RVIZ to better visualize TF.

Yes, by default now rtabmap assumes that we are restarting from latest localization from the previous session. This can be disabled though, by setting parameter "RGBD/SavedLocalizationIgnored" to true.

cheers,
Mathieu