Re: misalignment from tango multi session

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/misalignment-from-tango-multi-session-tp5046p5953.html

Hi Stephane,

If the bug is repeatable, you may try to start rtabmap node with gdb and "--udebug":

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap" output="screen" args="-d --udebug" launch-prefix="xterm -e gdb --args">

Then type "bt" wen it crashes to see the backtrace.

For the actual map, the density of the clouds added to rtabmap vary between 3000 to 320000 points. Is assembled_cloud always published at 1 Hz (if so you can safely set Rtabmap/DetectionRate to 0)? Does its size vary? For point_cloud_assembler, fixed_frame_id would need to be set to "odom" to actually assemble the clouds based on odometry displacement.

From the ouster example, the odometry local scan map size is set to 15000 instead of 1000, this would help to limit odometry drift:

<param name="OdomF2M/ScanMaxSize"        type="string" value="15000"/> 

Reg/Strategy could be set to 1 for rtabmap node.

cheers,
Mathieu