Re: Outdoor Localization error while running zed-ros-examples using zed2i camera

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Outdoor-Localization-error-while-running-zed-ros-examples-using-zed2i-camera-tp9773p9779.html

I cannot read the text in the screenshot of the terminal, but it looks like RGBD/MaxOdomCacheSize is 0. You would get smoother localizations if you set it to default value.

What are you using for odometry? What is the covariance of the odometry topic?

Setting Vis/MinInliers to 7 is pretty low and you may could accept very bad re-localizations. Default is 20.