Re: Adding an async external landmark

Posted by kojokaro on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Adding-an-async-external-landmark-tp9592p9641.html

Thanks Mathieu.

Additional question.

I have QR codes which are located on the floor and detected externally to rtabmap.
In mapping mode, whenever the robot goes over a QR code, rtabmap gets a message with the QR id and the robot's absolute position (and I can get more than one message per QR, with different locations as the robot proceeds).

I want to set those QR codes as landmarks. Currently whenever I get a QR code message, I add the data to tags_ in the message callback, and it is then processed by landmarksFromROS and added as a landmark.

It looks like I'm getting something close to what I need, but not precise. Probably because I get the robot position and not the QR position. Is landmarks the right way to handle this kind of message or is there a better way? If I know ahead the QR codes position, should I add them as markerPrior?