Re: Different behavior of icp_odometry node on real and simulated robot.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Different-behavior-of-icp-odometry-node-on-real-and-simulated-robot-tp9037p9063.html

Hi,

Your warning happens because the input cloud has normals, and you filter them without recomputing them. Probably on the real robot, there are no normals in the point cloud. You can ignore the warning. Looking at your parameters, normals are recomputed though, so the warning should not happen. Which version of rtabmap_ros do you have? It is like Icp/VoxelSize is not set to zero here (should be in 0.20.18). You could add --udebug in icp_odometry arguments to get the full debug log.

Based on this launch file, you should have only 1 TF trree:
/map -> icp_odom -> wheel_odom -> base_footprint

assuming wheel_odom->base_footprint TF is published by your simulated robot.