Re: How does localization mode work？

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-does-localization-mode-work-tp5288p5329.html

Not sure why rtabmapviz cannot call rtabmap services. Can you show the rqt_graph? Which rtabmap version are you using?

For the localization mode, when starting from a launch file, as shown in Advanced section of the referred tutorial:

<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="">
   ...
   <param name="Mem/IncrementalMemory" type="string" value="false"/>
</node>

This will make rtabmap loading the previously created database saved at "~/.ros/rtabmap.db" and fix the memory (Mem/IncrementalMemory=false), or in other world doing only localization (no mapping).

Can you edit your post and add the "raw" xml tags around the code, not sure if we see the whole code here. For example, to use rgbd_image inputs, you should set subscribe_rgbd to true like those lines lines are missing:

<param name="subscribe_depth"  type="bool"   value="false"/>
<param name="subscribe_rgbd"   type="bool"   value="true"/>
<param name="rgbd_cameras"    type="int"    value="2"/>
<param name="frame_id" type="string" value="base_link"/>

cheers,
Mathieu