Localization issue

Posted by aviadoz on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Localization-issue-tp5847.html

Hi,

I am using kinetic distro and rtabmap for navigation in our lab.
I mapped the lab with realSense 435 depth camera and used encoders to publish odometry (I tried without the encoders and the results are the same). I used "depthimage_to_laserscan" pkg to build the occupancy2d map. The 2D map is better if I use fake laser scan.
I know that my localization is not good (I heard to "localization_pose" topic and it is not good).
I tried many things to improve the localization but without a success.
Now I was working with Rtabmapviz and I noticed that there is a different in the frames of the loop closure windows (screenshot image).
I think that here is the problem. I also saw that the robot axes is jump a little when it is standing.
I will glad if someone will help me with that issue.

Tnx

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