Re: Lidar SLAM with loop closure

Posted by matlabbe on May 30, 2021; 9:44pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Lidar-SLAM-with-loop-closure-tp7846p8115.html

Hi,

When a tag is detected, in rtabmapviz a small coordinate frame will appear in the 3D Map view. In GraphView, you would see dark green links representing the landmark added to graph. When re-detecting a tag, the loop closure detection view would turn Orange with "Landmark match #" title (see https://github.com/introlab/rtabmap/issues/377#issuecomment-482765725 and http://official-rtab-map-forum.206.s1.nabble.com/Best-Practices-for-Quick-Automatic-Localization-tp6881p6915.html). You didn't remap explicitly the tag topic to rtabmap node, make sure it is connected to apriltag_ros output topic ("rosnode info /rtabmap/rtabmap | grep tag" or rqt_graph).


For the ASSERT, which rtabmap version do you have? A similar bug was fixed (on March 28, 2021) by this commit when using point_cloud_assembler (a bug inside PCL when appending a cloud to another one).

cheers,
Mathieu