Rtabmap deletes part of map
I am running Ubuntu Mate 16.04 on Raspberry Pi 3 and have tried to build a map with rtabmap. I am using Kinect, fake lasermsg from Kinect, odometry from wheel encoders and imu. Rtabmap is running on the Raspberry Pi and the visualisation with Rviz on a remote computer. When the robot drives around, he builds the map quiet well but deletes these parts of the map, where he is not right now.
Launchfile:
<launch>
<!-- Connection + Driving: -->
<include file="$(find differential_drive)/launch/start_minimal.launch"/>
<!-- Urdf-Model + Transform: -->
<include file="$(find drink_description)/launch/load_urdf.launch"/>
<!-- Kinect + depthimage_to_laserscan: -->
<include file="$(find differential_drive)/launch/freenect_rtab.launch"/>
<!-- Robot_Localization (Combines Odom + Imu): -->
<include file="$(find drink_mapping)/launch/robot_localization.launch"/>
<!-- SLAM: -->
<group ns="rtabmap">
<node name="rtabmap" pkg="rtabmap_ros" type="rtabmap" output="screen" args="--delete_db_on_start">
<param name="frame_id" type="string" value="base_footprint"/>
<param name="subscribe_depth" type="bool" value="true"/>
<param name="subscribe_scan" type="bool" value="true"/>
<remap from="odom" to="/odometry/filtered"/>
<remap from="scan" to="/kinect_scan"/>
<remap from="rgb/image" to="/camera/rgb/image_rect_color"/>
<remap from="depth/image" to="/camera/depth_registered/image_raw"/>
<remap from="rgb/camera_info" to="/camera/rgb/camera_info"/>
<param name="queue_size" type="int" value="10"/>
<param name="wait_fot_transform_duration" value="0.5"/>
<param name="approx_sync" value="true"/>
<!-- RTAB-Map's parameters -->
<param name="RGBD/ProximityBySpace" type="string" value="false"/>
<param name="RGBD/AngularUpdate" type="string" value="0.01"/>
<param name="RGBD/LinearUpdate" type="string" value="0.01"/>
<param name="RGBD/OptimizeFromGraphEnd" type="string" value="false"/>
<param name="Reg/Strategy" type="string" value="1"/> <!-- 1=ICP -->
<param name="Reg/Force3DoF" type="string" value="true"/>
<param name="Vis/MaxDepth" type="string" value="4.0"/>
<param name="Vis/MinInliers" type="string" value="3"/>
<param name="Vis/InlierDistance" type="string" value="0.1"/>
<param name="Rtabmap/TimeThr" type="string" value="700"/>
<param name="Mem/RehearsalSimilarity" type="string" value="0.45"/>
<param name="Icp/CorrespondenceRatio" type="string" value="0.5"/>
<param name="Grid/FromDepth" type="string" value="false"/>
</node>
</group>
</launch>
Warning:
[ WARN] (2017-04-15 22:28:21.616) Rtabmap.cpp:1786::process() Rejected loop closure 803 -> 819: Cannot compute transform (cor=90 corrRatio=0.140625/0.500000)
[ WARN] (2017-04-15 22:28:21.626) Memory.cpp:1580::forget() Less signatures transferred (0) than added (3)! The working memory cannot decrease in size.