Re: Realtime Map Merger Improvements

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Realtime-Map-Merger-Improvements-tp8200p8321.html

Hi Derek,

For the first and third questions, if you want to start from different origins, offset the odometry (you could add offset parameters to your odometry node). This could be also done by adding a TF static transform with arbitrary offset as parent to odometry frame of the robot, and use this offset frame as odom_frame_id for rtabmap. Other option, if you use rtabmap's odometry, you can call service /rtabmap/reset_odom_to_pose.

For the second question, this is similar of the approach I was thinking, but this could also work with visual loop closure detection too, though less complicated with AprilTag. The map merger node would have regenerate the graph with constraints between the apriltags, or without re-optimizing the graph, find the pose of the apriltag in each graph received, then merge accordingly to their position in each map.

cheers,
Mathieu