Re: The rtabmap graph changes position after a while

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/The-rtabmap-graph-changes-position-after-a-while-tp6401p6413.html

Hi,

To do that, we would need to attach a new pose to the closest one on the graph. There is no built-in mechanism to add random poses to the graph. One way to do this would be to use landmark input of rtabmap_ros (called "tag_detections" of type apriltag_ros::AprilTagDetectionArray). Publishing the pose as a landmark relative to current pose of the robot would add it to the graph. Make sure to set an ID always different.

To add a pose anywhere in the graph, it is not possible, only labeling could be used on actual nodes in the graph.

cheers,
Mathieu