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Hi Patrick,

It seems similar to this issue: https://github.com/introlab/rtabmap_ros/issues/65. This problem affects only /rtabmap/grid_map (which is created from the laser scans).

For now, set map_negative_poses_ignored parameter to true for rtabmap node:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
    <param name="map_negative_poses_ignored" type="bool" value="true"/>
    (...)
</node>

cheers,

Mathieu

Hi Patrick,

It seems similar to this issue: https://github.com/introlab/rtabmap_ros/issues/65. This problem affects only /rtabmap/grid_map (which is created from the laser scans).

For now, set map_negative_poses_ignored parameter to true for rtabmap node:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
    <param name="map_negative_poses_ignored" type="bool" value="true"/>
    (...)
</node>

EDIT In rtabmap_ros 0.11.7-1 (new version just released on Kinetic), you can set flip_scan parameter to fill unknown cells (the arc) in front of the laser rangefinder instead of behind if mounted upside down or if scan values are taken counterclockwise (you don't have to change map_negative_poses_ignored).

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
    <param name="flip_scan" type="bool" value="true"/>
    (...)
</node>

cheers,

Mathieu