Rtabmap with D435 Gazebo Simulation Delocalized
Hi, I am new on rtabmap_ros and VSLAM.
I am using ROS Kinetic with Gazebo 9.13 on Ubuntu 16.04 and D435 camera model from https://github.com/pal-robotics/reals..., and Rtabmap 0.19.6. I am using ground truth odometry in my simulation. I have tried to add enough texture to my simulation world, the robot still delocalized (when I move the robot around, it will go into a wrong loop closure and the robot on the Rtabmap GUI will shift to start position constantly)
I also put my robot into gazebo default "Kitchen Dinning" model to run this simulation, it still delocalizes after a bit.
I will post a screenshot later when I get enough points to upload the image. Should I add more features or change any settings? any advise is welcome, thanks.
Can you post rtabmap configuration? You may share the images with an external link, I can then after edit your question to put them back in this post (unless an admin can give you more points to be able to attach images).