Re: Realtime Map Merger Improvements

Posted by matlabbe on Aug 18, 2021; 9:37pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/Realtime-Map-Merger-Improvements-tp8200p8444.html

Hi Derek,

I am not used to this map merger node, but what I see from the database you shared is that there are 21 sessions in it, a new session seems triggered after 2 nodes from each robot are received. Ideally, there should be only 2 sessions, one for each robot linked by one link at the beginning. Without more knowledge on that map merger node, I cannot really help more.

If you only need to see the two maps in rviz created at the same time (without adding loop closures between them online), you could start 2 rtabmap in parallel, than add a static_transform_publisher between the 2 map frames.

cheers,
Mathieu