Re: About mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/About-mapping-tp8756p8762.html

If it is wheel odometry alone, it is odometry drifting. If the map is okay until a loop closure is found, then destroyed like this, you may adjust your odometry covariance and set it lower (I would suspect your odometry uses Identity matrix if so). This will avoid shewing the map like this.

Rtabmap publishes an OctoMap.