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I already found out that I have to set the localization mode to false first.
It still does not work. I get the error messages in rtabmap:
[ INFO] [1633977903.070727874]: Odom: quality=337, std dev=0.015768m|0.068844rad, update time=0.223289s
[ INFO] [1633977903.289025833]: rtabmap (113): Rate=1.00s, Limit=0.000s, Conversion=0.0021s, RTAB-Map=0.2129s, Maps update=0.0008s pub=0.0000s (local map=6, WM=6)
[ WARN] (2021-10-11 20:45:04.121) OdometryF2M.cpp:529::computeTransform() Registration failed: "Not enough inliers 7/20 (matches=141) between -1 and 124" (guess=xyz=0.000173,-0.003361,-0.004406 rpy=-0.000072,-0.001769,0.001053)
[ WARN] (2021-10-11 20:45:04.122) OdometryF2M.cpp:290::computeTransform() Failed to find a transformation with the provided guess (xyz=0.000173,-0.003361,-0.004406 rpy=-0.000072,-0.001769,0.001053), trying again without a guess.
[ WARN] (2021-10-11 20:45:04.441) OdometryF2M.cpp:539::computeTransform() Trial with no guess succeeded!
[ INFO] [1633977904.453612297]: Odom: quality=259, std dev=0.036711m|0.077304rad, update time=0.532540s
[ INFO] [1633977904.675536318]: rtabmap (114): Rate=1.00s, Limit=0.000s, Conversion=0.0020s, RTAB-Map=0.2168s, Maps update=0.0006s pub=0.0000s (local map=6, WM=6)
My r_l ekf.yaml file looks like this:
frequency: 20
silent_tf_failure: false
sensor_timeout: 1.5
two_d_mode: true
transform_time_offset: 0.0
transform_timeout: 0.0
print_diagnostics: true
debug: false
debug_out_file: /path/to/debug/file.txt
publish_tf: true
publish_acceleration: false
permit_corrected_publication: false
map_frame: map # Defaults to "map" if unspecified
odom_frame: odom # Defaults to "odom" if unspecified
base_link_frame: base_link # Defaults to "base_link" if unspecified
world_frame: odom # Defaults to the value of odom_frame if unspecified
odom0: ackermann_odom
odom0_config: [false, false, false,
false, false, false,
true, true, false,
false, false, false,
false, false, false]
odom0_queue_size: 2
odom0_nodelay: false
odom0_differential: false #default false
odom0_relative: false
odom0_pose_rejection_threshold: 5
odom0_twist_rejection_threshold: 1
odom1: /rtabmap/visual_odom
odom1_config: [false, false, false,
false, false, false,
false, false, false,
false, false, true,
false, false, false]
odom1_differential: false
odom1_relative: false
odom1_queue_size: 2
odom1_pose_rejection_threshold: 2
odom1_twist_rejection_threshold: 0.2
odom1_nodelay: false
use_control: true
stamped_control: false
control_timeout: 0.2
control_config: [true, false, false, false, false, true]
acceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 3.4]
deceleration_limits: [1.3, 0.0, 0.0, 0.0, 0.0, 4.5]
acceleration_gains: [0.8, 0.0, 0.0, 0.0, 0.0, 0.9]
deceleration_gains: [1.0, 0.0, 0.0, 0.0, 0.0, 1.0]
process_noise_covariance: [0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0.05, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0.03, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0.06, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0.025, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0.04, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.02, 0, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.01, 0,
0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0.015]
initial_estimate_covariance: [1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0, 0,
0, 0, 0, 0, 0, 0, 1e-9, 0, 0, 0, 0, 0, 0, 0, 0,
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