Re: Localization after mapping session using lidar only

Posted by matlabbe on Jan 16, 2023; 1:49am
URL: http://official-rtab-map-forum.206.s1.nabble.com/Localization-after-mapping-session-using-lidar-only-tp9260p9289.html

Hi,

set only scan_voxel_size parameter. In the warning, voxel=0.05 not 0.5 (maybe it is a warning not coming from odometry but another node, check with rqt_console). With range up to 100 meters, at 5 cm there could be indeed overflow. Outdoor (with long range lidars) I generally set voxel size between 0.3 and 0.5.

Not sure to understand this comment:

- merge WM clouds, neither using rtabmap with use_scan_clouds or use_scan_descriptor from cmr_lidarloop. I do not know where to look into : either robot_localization or rtabmap.

but in your launch, if you use subscribe_scan_descriptor, you should remap scan_descriptor topic too.

Another point related to this post is that I am receiving 0 using Floam and crash with Loam.

I would need your system configuration, which repos you used exactly and commit version of those repos.

cheers,
Mathieu