rtab_map localization tuning & goal setting questions
A couple of questions concerning rtab_map localization:
- During localization, how can I tune rtab_map to not make big jumps on the map in once the system has had a confident localization?
- Do I need to update cache from local database copy in the Rtab map visualizer, even though I specify the db file in my launch?
- What combination of sensors results in the very best map creation?
- What combination of sensors results in the very best localization?
- I see that RTAB subscribes to goal and also provides a set_goal service. I am not sure how this works with move_base local/global planners. Could someone please provide a little more detail on this?
Thanks!!