Re: Aruco Marker Landmarks error in Localisation after good mapping.

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Aruco-Marker-Landmarks-error-in-Localisation-after-good-mapping-tp9144p9199.html

Hi,

The issue with ICP is that the scan format in the database is XYZ, instead of XY for 2d scans. Because of this, normals are computed wrongly assuming the scan is 3D. Normally, rtabmap_ros should generate XY format from sensor_msgs::LaserScan topics, then normals will be generated in 2D instead of 3D. If you are feeding a sensor_msgs::LaserScan topic, can you share the launch file you used for rtabmap node? There could be a bug here. However, if you are feding a sensor_msgs::PointCloud2, you would need to remove the Z channel before feeding it to rtabmap so that the scan is considered 2D.

cheers,
Mathieu