Re: RTAB-MAP with only 3D LIDAR and no loop closing

Posted by Amber on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-MAP-with-only-3D-LIDAR-and-no-loop-closing-tp8282p8389.html

Hi Matheu,

As you suggested, I tried implementing <nabble_embed>cmr_lidarloop</nabble_embed> with <nabble_embed>RTAB-Map</nabble_embed>. Separately, I performed with RTAB-MAP mapping without cmr_lidarloop in a gazebo simulation.  Please find the .db file in the link nelow.

https://drive.google.com/file/d/1wrd0N7lEhMyoRMBxDwzyQ79Lk2Avhqdx/view?usp=sharing

Also, let me know if you need the bag file. Additionally, I found that /rtabmap/MapData, /rtabmap/MapGraph, and /rtabmap/info are not publishing when only the LIDAR is used. Particularly,  /rtabmap/MapData is required while using cmr_lidarloop package.

Also, I saw that cmr_localization package which is linked with cmr_lidarloop uses RGBD and RGB cameras. Do they work without the cameras also? I am unable to publish scan_descriptor topic actually, while following the documentation of the cmr_lidarloop. The corresponding issues have been posted in the link below.
https://github.com/MarvinStuede/cmr_lidarloop/issues/4

Please let me know your views and suggestions to resolve it.

thank you,

Best,
Anindya