Re: Localization issue

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Localization-issue-tp5847p5882.html

Hi,

I cannot see how rtabmap_realsense.launch is configured, but the scan is created from the camera depth image, which seems to have a lot of distortion far from the camera. The resulting scan is very noisy, which is likely causing those jumps. Limit the range of the scan generated or explicitly set Reg/Strategy=0 (visual) for rtabmap node (by default if rtabmap is subscribed to a laser scan, it sets Reg/Strategy=1).

cheers,
Mathieu