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rtabmap_ros loop closure rejection when doing tutorial

asked 2016-02-26 07:52:50 -0500

Azharudeen
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I am using ros indigo in ubuntu 14.04 when i am running the stereo outdoor tutorial in rtabmap_ros with Stereo_outdoorB.bag file as in :link i get a loop closure rejction error at the end of the bagfile

here I have atached the screenshots : image description

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answered 2016-02-29 14:34:01 -0500

matlabbe

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Hi,

Use the updated demo_stereo_outdoor.launch from 0.10.12, not the one installed by 0.10.10. Just download the launch file, you would not need to rebuild rtabmap from source.

The old launch file is broken because of the new RGBD/OptimizeMaxError parameter. Either set RGBD/OptimizeMaxError to 0 under the rtabmap node or use the launch file above.

cheers

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thanks matlabbe

Azharudeen ( 2016-03-03 22:33:21 -0500 )edit

The loop closure error was solved but now i get this error: updateMapCloud() map id of node X not found as in the picture i have posted

Azharudeen ( 2016-03-03 22:53:14 -0500 )edit

thanks for your suggestion on new version i rebuild the entire package after downloading the new version it worked...... thanks

Azharudeen ( 2016-03-04 05:20:32 -0500 )edit

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Asked: 2016-02-26 07:52:50 -0500

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Last updated: Feb 29 '16

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rtabmap_ros loop closure rejection when doing tutorial