Re: g2o error on loop closure

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/g2o-error-on-loop-closure-tp4707p4862.html

By careful tuning of robot_localization, see their documentation.

On rtabmap side, we can manually fix a covariance if fixing on robot_localization side is not possible. Set odom_frame_id of rtabmap node and set also odom_tf_angular_variance and odom_tf_linear_variance parameters.

cheers,
Mathieu