Re: Localization after mapping session using lidar only

Posted by matlabbe on Dec 21, 2022; 6:26am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Localization-after-mapping-session-using-lidar-only-tp9260p9265.html


RTAB-Map doesn't do global lidar-only localization. Its global localization approach is based on vision. Without a camera it can only localize locally with the lidar, but you will need to give a first guess with RVIZ 2D pose tool (set topic to "/rtabmap/initialpose") to initialize the position of the robot.