Re: Real-Time Multi Robot Map Combination

Posted by derektan1995 on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Real-Time-Multi-Robot-Map-Combination-tp5992p8354.html

Hi Mathieu,

Thanks for your reply. I agree that this feature isn't very meaningful without any constraints. However, I am interested in getting RViz publish out the individual maps overlapping each other before any loop closure is found because I am unable to guarantee a loop closure early in the mapping process. I would still like to see the rough visualisation of the maps early on in the mapping process.

This question is related to the issue I posted in this post. I experienced parts of my map disappearing in the 2nd method mentioned there, and would like to gain insights as to why it is happening. In fact, I have already defined a User-Defined loop closure (kUserClosure) between the first node of each robot's mapData prior to the map merging process for initial pose initialization, so technically a constraint has already been established.

Been trying this out for awhile now, without any luck. Is there any way I could publish out the entire 3d map without old maps disappearing?

Regards,
Derek