Re: [large covariance]hectorslam(hokuyoUTM30lx)+rtabmap(kinectV2)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/large-covariance-hectorslam-hokuyoUTM30lx-rtabmap-kinectV2-tp6067p6071.html

Hi,

For hector slam, I cannot really help about tuning their covariance. However, it is possible to fix odom covariance manually in rtabmap to bypassing input ones. To do so, you have to use odometry from TF by setting odom_frame_id parameter of rtabmap node. Then to fix covariance, set odom_tf_angular_variance and odom_tf_linear_variance parameters (this will fill diagonal of the 6x6 covariance matrix):

<node pkg="rtabmap_ros" type="rtabmap" value="rtabmap">
   ...
   <param name="odom_frame_id" value="odom"/>
   <param name="odom_tf_linear_variance" value="0.0001"/> <!-- ~1 cm error -->
   <param name="odom_tf_angular_variance="0.0005"/>       <!-- ~1.3 deg error -->
</node>

cheers,
Mathieu