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how to add gps map to the rtabmap database?

asked 2021-07-13 04:40:27 -0500

Delbina gravatar image

Hi everyone, I am working with rtabmap, and my robot has lidar, imu, wheel odometer, and gps. now instead of doing mapping, i want to load the gps map into database, and then for the localization part use this map. is there anyway to load the gpsmap into database?

ROS1, kinetic 16.04, python 2.7

Kind Regards

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answered 2021-07-29 08:09:21 -0500

matlabbe gravatar image

What do you mean by GPS map? Do you have an example? What you do with rtabmap and GPS is to feed it a gps topic on /gps/fix input topic. If you want the GPS values be used as factors in the graph optimization, set Optimizer/PriorsIgnored=false. Also by default Rtabmap/LoopGPS=true, so GPS is used to limit the search for loop closures, helping to avoid some bad loop closures (in particular during multi-session mapping).

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Thanks a lot for resonding to my question, I have asked this question before, so at that i thought that it is possible to load the GPS map inside the database, so the robot can load the gps map automatically from its database, and we can always start rtabam from the localization mode. after that I found out that for navigation based on gps, i should run two instances of robot_localization pkg.

Now my question is that, how can i compare the localization accuracy before and after adding gps to the rtabmap? I mean once i run rtabmap without considering the gps topic, and the other time i run it after considering gps topic. Now I want to compare the impact of gps, on the localization? how much it has improved the accuracy of location of the vehicle in the map?

Delbina gravatar image Delbina  ( 2021-07-29 11:26:57 -0500 )edit

You can export the trajectories in multiple formats when opening the database in rtabmap-databaseViewer (File->Export poses...). You can then use an external benchmark script (e.g., RGB-D dataset) to compare trajectories.

matlabbe gravatar image matlabbe  ( 2021-09-02 10:50:55 -0500 )edit

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Asked: 2021-07-13 04:40:27 -0500

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Last updated: Jul 29 '21