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Re: icp_odometry with LOAM crash

Posted by matlabbe on Sep 22, 2021; 2:57pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/icp-odometry-with-LOAM-crash-tp8261p8596.html

Hi,

OdomLOAM/Sensor should be set correctly, default is set to 2 (64 rays) matching kitti dataset. With VLP16, it should be set to 0. Note that I just fixed an error when setting it to 0, make sure to update to latest rtabmap version.

For convenience, I updated test_velodyne.launch with floam option:
roslaunch rtabmap_ros test_velodyne.launch floam:=true
It is because when using icp_odometry with FLOAM, we should make also sure that Icp/VoxelSize is 0 (otherwise icp_odometry pre-voxel the scan before sending it to floam, which is causing issues).

cheers,
Mathieu