Re: empty 2D grid map

Posted by lamuco_lamuco on
URL: http://official-rtab-map-forum.206.s1.nabble.com/empty-2D-grid-map-tp4701p4727.html

Hi matlabbe

I finally managed to solve the issue, and now I'm able to see the 2d grid map.
I barely changed my launch file, but from what I understood from the errors, I was having some issues between the ICP (too many errors regarding the scan matching) and the TORO Optimizer (maybe not fully localized because of the ICP and, thus, not loading the grid map?)
I've changed to g2o optimizer, which was working well for single maps, and the 2d grid map from a two-map-session has been spawned correctly. I'll made some more test and let you know if I find any weird behaviour.

Just for curiosity, why do you recommend using TORO for the multiple-session map?

Thanks for the quick response!
Best regards