Re: Mapping and GPS Orientation Problems

Posted by matlabbe on May 30, 2021; 11:16pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-and-GPS-Orientation-Problems-tp8090p8120.html

Hi,

You can click on my user name and click "Send Email to...", a link to a cloud storage service can be provided.

The map published by RTAB-Map is in /map frame. The map frame is published by another node. You would have to match the map frame from rtabmap with the map frame from EKF map. What could be problematic is when a loop closure happens on rtabmap side, the map would be corrected, not sure if the global pose estimated in EKF will match the one rtabmap thinks it is.

Another approach is to use only one EKF node for odometry, then feed /gps/fix topic to rtabmap node. Is GPS published at high rate and always published (like a RTK)? Would you rather use this pose for odomery instead of the IMU+wheel-only odom? Another approach could be to make rtabmap publish map_rtab -> map frame by changing its map_frame_id to "map_rtab", and use odom_frame_id as "map" (the one from EKF map).

cheers,
Mathieu