Updating map when doing localization in 3D lidar version

Posted by robertsenps on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Updating-map-when-doing-localization-in-3D-lidar-version-tp8769.html

Hi all,

Does anyone know how to update the map (both 3d and 2d map) in the middle of the localization process? Is there any parameter that I can set to activate the map updating when doing localization?

Maybe the multi-session mapping technique is useful. But is there anything else that we can do to do the switching as seamless as we can do, and without using the GUI?

I tried to restart localization node and set Mem/IncrementalMemory to true in localization mode (which I don't use "--delete_db_on_start" arg), But the transform between map to odom is = 0. After I tried to set the IncrementalMemory param to false, it back to its last localization pose.

Any thoughts?

I'm using 3D lidar only.

Thank you