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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?
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: 2019-04-15 15:32:08 -0600
Seen: 209 times
Last updated: Apr 17 '19
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