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-tp9144p9238.html

For convenience, I updated rtabmap_ros in this commit with a new parameter called scan_cloud_is_2d for both icp_odometry and rtabmap nodes. If you use "subscribe_scan_cloud" with an input PointCloud2, when "scan_cloud_is_2d" is true, it will assume the input cloud is 2D (even if it has z channel). If normals have to be computed, they will then be correctly computed.

cheers,
Mathieu