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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/2D-occupancy-grid-map-does-not-show-when-using-existing-map-to-navigate-tp4719p4852.html

What is exactly the warning message telling it is discarding all previous poses? so I can see where in the code it happens.

If you start a new session, it is the default behavior that the previous map is not shown, as the current pose is not linked to a previous map. If there is a loop closure with a previous map at some point, that old map should re-appear. If you don't want to clear the previous map if the robot cannot localize on the first frame, you can set the parameter Rtabmap/StartNewMapOnLoopClosure to true.

When your computer is "stuck", it is because RVIZ is creating all point clouds after downloading all data. You should wait until RVIZ has generated all of them.

Actually, RTAB-Map has been used (here) a lot more with 2D navigation than 3D navigation.

I did more tests to replicate your bug of empty grid map and I did! Thx to point out the RGBD/OptimizeFromGraphEnd parameter. There was a bug when this parameter was true. This is now fixed in this commit. Without updating the code or if you want to re-use a previous database, we can also set use_saved_map to false to make sure all local occupancy grids are correctly loaded:

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap">
   <param name="use_saved_map" type="bool" value="false"/>
   ...
</node>

cheers,
Mathieu