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-tp5046p5979.html

Hi,

You are updating the map at 5 Hz, it could be just 1 Hz, so you can map 5x more. You also set Rtabmap/TimeThr to 100 ms, which is very small.

The error you are seeing is maybe icp_odometry failed the registration, so odometry is lost. You would have to reset odometry. Doing so it creates a new session. If a loop closure is detected with a previous session, the maps will be merged automatically (like in tango multi-session).

To debug icp_odometry (the drift we see is caused by odometry), it cannot be done just looking at the database, a rosbag of the raw scans is required!

Regards,
Mathieu