Re: Filtering rtabmap localization jumps with robot_localization in 2D

Posted by Artem Lobantsev on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Filtering-rtabmap-localization-jumps-with-robot-localization-in-2D-tp5931p6970.html

I had the issues with filter diverging exactly for the same case. The solution was founded in ignoring odometry absolute bose, but use only the twist information, Maybe it will help someone.

<rosparam param="odom0_config">[false,  false,  false,
                                false,  false,  false,
                                true,   true,   false,
                                false,  false,  true,
                                false,  false,  false]</rosparam>