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-tp9773p9784.html


When the odometry is not moving, the issue is coming from ZED's odometry not moving for some reasons.

I am surprised there are not more inliers, as the images look pretty similar with same point of view. Can you share the rosbag of the localization run and the one of the mapping run?

If the robot jumps are high after multiple consecutive localizations, it may be related to poor covariance set in odometry topic.

The Rtabmap/MaxRepublished parameter is used to limit the number of nodes with data republished to clients not having the data of those nodes, like when when rviz's MapCloud display or rtabmap_viz are used.