Re: Angular information roll should not be null

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Angular-information-roll-should-not-be-null-tp8300p8395.html

Hi,

It feels like your odometry topic has "inf" values in it. rtabmap asserts the error and exit, so no map is created anymore.

You can do "rostopic echo /your/odom/topic" to see the covariance values. Either modify the node publishing the odometry with 9999 instead of inf, or make a middle node to convert and republish the covariance with 9999 instead of the inf values.

EDIT: In this new commit, I check if there are inf values in z,roll and pitch if Reg/Force3DoF is enabled, then change them to be compatible down the line for convenience. Solution above should still work without recompiling rtabmap.

cheers,
Mathieu