Re: Disable Loop Closure detection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Disable-Loop-Closure-detection-tp6189p6198.html

Yes, change odom_frame_id parameter of rtabmap node to "map". However, if map->base_link has discrete jumps (like there is some relocalization/loop closure detection going on), the poses in the graph will just jump without graph optimization.