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-tp5288p5411.html

How did you record the rosbag? which topics? what is the output of:

$ rosbag info [BAGNAME].bag

use_sim_time should be true when using a rosbag, make sure to add "--clock" when doing rosbag play:

$ roslaunch localization_with_map.launch localization:=true use_sim_time:=true
$ rosbag play --clock [BAGNAME].bag

Make sure you already have a map in ~/.ros/rtabmap.db before trying localization mode. Are you able to make a map with the rosbag (not in localization mode)?

$ roslaunch localization_with_map.launch localization:=false use_sim_time:=true
$ rosbag play --clock [BAGNAME].bag