Re: 2D occupancy grid map does not show when using existing map to navigate

Posted by Trung Nguyen on
URL: http://official-rtab-map-forum.206.s1.nabble.com/2D-occupancy-grid-map-does-not-show-when-using-existing-map-to-navigate-tp4719p4822.html

Dear Matthieu,

After some time I have figured out the problem of not displaying the 2D map. I try to draw a large map of the whole building by drawing many small maps and using multi mapping session. However, as I turn on the robot with existing map to continue to draw next map, the old map disappear, and I got a message like : Discard all existing pose as loop closure detection fail. I guess this is the reason why my existing 2D map does not exist, as RTAB map automatically discard old 2D maps. I also seen some error relating to optimize from graph end. I set this Optimizing from graph end to false. Does it cause my problem ? Do you know how I can fix my problem ?

My second problem is that map created by RTAB Map seems to have a lot of noise. For locations that robot have already seen, when I go back to that location, RTAB Map also update it, resulting in overlapping obstacle in the map. When I use Hector Slam, the map is very clean. I would appreciate if you could tell my how I can improve the performance of RTAB Map.