Question

If I do not need to relocalize my robot and I have some external localization data, do I really need to use graph SLAM in RTABmap? Why do I need to keep the path and loop closure if I can get the localization data elsewhere and hence increase my performance by using online SLAM in RTABmap?

Asked by EdwardNur on 2019-04-15 15:32:08 UTC

Answer 1

If you have external localization, you would not need a SLAM approach at all. If you are looking to use RTAB-Map only for the map, you could disable loop closure detection and use odometry from your localization system directly.

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
    <param name="odom_frame_id" value="world"/>         <!-- origin of your localization system -->
    <param name="frame_id" value="base_link"/>          <!-- base frame on the robot -->
    <param name="Kp/MaxFeatures" value="-1"/>           <!-- disable loop closure detection -->
    <param name="RGBD/ProximityBySpace" value="false"/> <!-- disable proximity detection -->
    ...
</node>

cheers,
Mathieu

Asked by matlabbe on 2019-04-17 18:00:13 UTC

Making RTABmap to online SLAM

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