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

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-MAP-with-only-3D-LIDAR-and-no-loop-closing-tp8282p8610.html

Hi,

Yes, you can subscribe to both topics at the same time.

To distinguish loop closure types, we can set a type in Link msg:
https://github.com/introlab/rtabmap_ros/blob/2c144400ed496e5de6cca36b228e75f9a2d0b47f/msg/Link.msg#L12

In cmr_lidarloop, the link will have a type Link::kUserClosure: https://github.com/MarvinStuede/cmr_lidarloop/blob/39b44c1b4fe203fa89319820f25b12d428dfabe2/src/lidar_loopdetection.cpp#L291

Loop closures detected with camera will appear as Link::GlobalClosure, all types are there: https://github.com/introlab/rtabmap/blob/aee034c5ed9d1909a976d1d4bb1a849eb26e1991/corelib/include/rtabmap/core/Link.h#L41-L56

In rtabmapviz, open Graph View, each kind of links can have a different color. Right-click on Graph-View panel to change them.

cheers,
Mathieu