assign rtabmap/localization_Pose to the /rtabmap/initial_pose

asked 2021-06-07 11:31:52 -0500

Masoum gravatar image

hi everyone,

1) I want to assign rtabmap/localization_Pose to the /rtabmap/initial_pose. 2) In another test I want to assign the position and orientation gained from the tf between map and base_link, to the rtabma/initial_pose.

I would be grateful if anyone can help in this regard thanks

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Comments

Note sure what you want to achieve. /rtabmap/localization_pose is an output of rtabmap node, as /rtabmap/initial_pose is an input. Connecting both would create a loop.

matlabbe gravatar image matlabbe  ( 2021-07-13 13:00:27 -0500 )edit

sorry, I mentioned my question in a bad way. actually, after closing rtabmap, we moved the vehicle to another part of the map and the launch rtabmap, but the last location of the vehicle has been saved in the database. now my question is that how can I specify the location of the vehicle in such a kind of situation? because every time, I have to do mapping.

thanks

Masoum gravatar image Masoum  ( 2021-07-13 13:35:42 -0500 )edit

When relaunching in localization mode, and if the robot is not at the last position saved in the map or at the origin (for which we can set RGBD/StartAtOrigin=true), the robot will have to localize with the camera by moving in a known area or if the robot can localize on start in front highly descriptive location already saved in the map. One last approach is to do it manually, by sending a pose to /rtabmap/initialpose topic

matlabbe gravatar image matlabbe  ( 2021-07-29 08:25:08 -0500 )edit

thanks a lot. i think if i want to do navigation and slam at the same time, no need to do these setting. because we have to launch rtabmap in slam mode, and in the start the map will be deleted each time. just one question,in the SLAM mode, how can we identify that the vehicle has been localized or not?

Masoum gravatar image Masoum  ( 2021-07-29 10:15:16 -0500 )edit