Re: Updating map when doing localization in 3D lidar version

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Updating-map-when-doing-localization-in-3D-lidar-version-tp8769p8772.html

Hi,

You may try set_mode_localization and set_mode_mapping services, though it is simply changing the Mem/IncrementalMemory parameter like you did manually. I would have to do some tests about switching modes and what it is doing when no camera is used. My first guess is that a camera is required to make sure we have a strong loop closure between the sessions when switching from localization to mapping. However, if we know that robot is correctly localized using only lidar (like proximity detections found), I could check to let it add the link between the session. When switching from mapping to localization, normally it could just continue from current position without adding new nodes. This is something I didn't test a lot online, so I'll take a look to make it more seamlessly. In this post, we also discussed reloading database issue when switching from mapping to localization.

Regards,
Mathieu