Re: Localization accuracy and some questions...

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Localization-accuracy-and-some-questions-tp793p800.html

If your wheel odometry is very erroneous, robot_pose_ekf may not be able to filter that. You don't have to start two rtabmap nodes. The visual odometry is an independent node. For example:

wheel_odometry
       \
      "odometry"
         \
        robot_pose_ekf_node  ----- "pose" -----> convert_pose_to_odom_node --"odometry" ---> rtabmap
         /
      "odometry"
       /
rgbd_odometry

Setting "RGBD/OptimizeFromGraphEnd=false" doesn't change /map->/odom, so /base_link is not affected.

Yes, the visual odometry node is independent of the rtabmap node. For convenience, the rgbd_mapping.launch launches rgbd_odometry, rtabmap and rtabmapviz (or rviz) nodes. If you only need rtabmap node, I recommend to use the node directly in your launch files instead (following these examples depending on your robot configuration).

cheers