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

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URL: http://official-rtab-map-forum.206.s1.nabble.com/Aruco-Marker-Landmarks-error-in-Localisation-after-good-mapping-tp9144p9233.html

Thanks... re-testing this now... I removed the Z from the scan Pointcloud: RTABmap runs, but then does not seem to issue any odom>map tf: sample db attached @ https://drive.google.com/file/d/1YDEJucJCSaJCZHLpzS0QC4tmXp_E0FDN/view?usp=sharing

I convert my laser scan to a Pointcloud2 to correct for robot movement: e.g. discussed here http://www.buzzdev.guru/p/using-cartographer-ros-with-clockwise.html

Does RTABmap do this any way from a CLOCKWISE 5Hz laser scanner ? .. my tests using RTABmap and the raw laser-scan topic do not seem to be as good as compared to my corrected scan Pointcloud2.

Meanwhile, RVIZ does not seem to like this new 2d XY Pointcloud2 (e.g. without the Z)... but otherwise the topic message I am generating looks fine.  

My "normal" 3d Pointcloud2 from the scan generally works fine, with a constant Z value.  Can this not be detected by RTABmap to avoid the ICP 2d / 3d normal compute problem ?

OR: what is the expected RTABmap input format for "subscribe_scan_cloud" for XY 2d ?