Rtabmap_ros not mapping.

Posted by krush on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Rtabmap-ros-not-mapping-tp7407.html

Hi,

I am a new rtabmap_ros user, so I don't have much knowledge regarding the same.
 This is my launch file and parameters:

LAUNCH FILE:

<launch>
  <node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="-d">
    <rosparam command="load" file="$(find rtabmap_pkg)/params.yaml" />

    <!-- Remap topics -->
    <remap from="/odom" to="/robot_control/odom" />
    <remap from="/scan_cloud" to="/velodyne_points" />
    <remap from="/left/image_rect" to="/zed/left/image_raw" />
    <remap from="/right/image_rect" to="/zed/right/image_raw" />
    <remap from="/left/camera_info" to="/zed/left/camera_info" />
    <remap from="/right/camera_info" to="/zed/right/camera_info" />

    <!-- <remap from="rgb/image" to="/zed/left/image_raw"/>
    <remap from="rgb/camera_info" to="/zed/left/camera_info"/> -->
    
    <!-- localization mode -->
    <!-- <param name="Mem/IncrementalMemory" type="string" value="false" />
    <param name="Mem/InitWMWithAllNodes" type="string" value="false" /> -->
  </node>
</launch>

PARAMS FILE:
subscribe_depth: false
subscribe_rgbd: false
subscribe_scan: false
subscribe_scan_cloud: true
subscribe_stereo: true
frame_id: base_link
approx_sync: true
Grid/FromDepth: true
Grid/3D: false

This is the warning I got:
[ WARN] (2021-01-26 13:57:23.353) Memory.cpp:915::addSignatureToStm() Very large angular variance (0.100000) detected! Please fix odometry covariance, otherwise, poor graph optimizations are expected and wrong loop closure detections creating a lot of errors in the map could be accepted. This message is only printed once.

Also, this is setup isn't giving a proper mapping at /grid_map.
Please provide a solution and let me know if you need anything else.