Re: misalignment from tango multi session

Posted by sDeboffle on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5952.html

Hi mathieu
I have made some other test and I'm able to have a good map with a 30° tilt lidar.
My launch file:
LidarImuKinect01.launch

all is good untill RTAB-map see a image similar to a previous image and make a loop closure. A have a yellow screen then RTAB map stop record points, and kinect image don't update anymore.

I have this message:
[rtabmap/rtabmap-4] process has died [pid 23910, exit code 127, cmd /home/sdeboffle/Bureau/Quanergy_launch/catkin_ws/devel/lib/rtabmap_ros/rtabmap -d scan_cloud:=assembled_cloud rgbd_image:=rgbd_image __name:=rtabmap __log:=/home/sdeboffle/.ros/log/4cd38968-8d1b-11e9-bf3f-9829a6388ce0/rtabmap-rtabmap-4.log].
log file: /home/sdeboffle/.ros/log/4cd38968-8d1b-11e9-bf3f-9829a6388ce0/rtabmap-rtabmap-4*.log

Can't find this file,sorry.

This is a repeatable issue. I have find that if I increase the graph optimization error from 1 to 3 for exemple, RTAB have less crash.
the DB:
https://wetransfer.com/downloads/2fb0db3b852feff9768be49267d5d59120190612152657/7ed1233bde08a2db73b872621e3b811a20190612152657/542417

Is my settings creates conflict, or is it possible to bypass this bug?
cheers
stephane