Re: Tips needed to improve on RTAB Mapping for legged Robots

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Tips-needed-to-improve-on-RTAB-Mapping-for-legged-Robots-tp7417p7482.html

Hi Derek,

This is a parameter not documented, odom_sensor_sync is a ros parameter for rtabmap node. Parameters shown by --params are those from RTAB-Map library.

Icp/MaxCorrespondenceDistance is more an ICP parameters to find correspondences between the scans. If it is high, it can indeed close loops were drift between two scans is higher. Making it too high could close wrongly some loop closures.

If you don't show or subscribe to 3D map, it won't be constructed. To save memory, you can also disable saving binary data in rtabmap. To do this, set Mem/NotLinkedNodesKept and Mem/BinDataKept to false.

Yes, using a 3D lidar gives more data, so probably better loop closures, even if Reg/Force3DoF is true. In the case of that post, it does scan to map for proximity detections. Instead of doing a scan to grid map for localization (like AMCL), it does scan to map's scans for localization.

cheers,
Mathieu