Re: RGBD Outdoor Mapping - Offline Database Processing - Localization

Posted by DavideR on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGBD-Outdoor-Mapping-Offline-Database-Processing-Localization-tp5258p5586.html

Hey Mathieu!

I have questions about localization mode.

1. I mapped the area forcing a 3 DOF registration so that my graph lies on an unique plane. On contrary, when I run rtabmap in localization mode (forcing  3 DOF), the transform /map->/odom evaluates all the 6 DOF anyway. My robot pitches and the pose is estimated correctly, still I'd like to mantain the transformation on the ground plane ignoring z,pitch and roll values (otherwise my robot starts to fly :D ). Am I doing something wrong or it is supposed to work in that way?

2. If everything is as expected what could be a nice workaround? how can I filter the /map->/odom transform?

3. Why then the database graph gets modified even if localization mode is activated?

Thank You for your patience!

cheers