Re: Disable Loop Closure detection

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Disable-Loop-Closure-detection-tp6189p6205.html

You may try it. What happens is that if there is a jump 1 meter left while moving forward 1 meter because of relocalization, in the graph the next node will be 1 meter left of the previous node. In reality, if we look at the odometry (which should be continuous), the motion should be forward 1 meter.

Another approach is to feed GPS to rtabmap with "Optimizer/PriorsIgnored" parameter set to false (to use GPS constraints in graph optimization). For rtabmap node, there is an input topic called /gps/fix. See also this tutorial to see how GPS can be also used in rtabmap.

cheers,
Mathieu