Angelica-P

Thank you for replying so quickly! I tried installing the newest version of rtabmap and rtabmap_ros from the master branch for both repos as you suggested. After un-installing the existing...

Ok, I was able to get the cloud viewing working in the Constraints viewer. (For some reason, I need to open the Graph View before it will load the point...

**Update:** I've sorted out the issues with the pitch angle of the camera. ie. where the images weren't lining up when the tilt angles were different. The values reported by...

**Update 2:** Turns out if I change the optimizer from g2o to TORO, it works just fine and finds loop closures as I would expect. (ie. `Optimizer/Strategy = "0" `)...

> I've found how to make it work with g2o, we have to increase `RGBD/LocalizationPriorError` to `0.1` (default is `0.001`). That parameter has been added for some optimization issues with...

I won't be able to check until Monday unfortunately, but I'm working on Ubuntu 18.04 with ROS Melodic installed using the instructions on the ROS website. I haven't made any...

Ok, so it looks like I do indeed have `2018.3.25` installed via `ros-melodic-libg2o`. Output of `dpkg -s ros-melodic-libg2o` on my robot's computer: (if it helps) ```bash Package: ros-melodic-libg2o Status: install...

Sorry for the delay, I just tried the changes. I see they were merged into master so I pulled from master, rebuilt and reinstalled. (Following [these instructions](https://github.com/introlab/rtabmap/wiki/Installation#update-code).) I double checked...

> I [reverted](https://github.com/introlab/rtabmap/commit/e3a60c867210d1d8a7b44abe046c2f9229aafa94) the changes allowing RGBD/LocalizationPriorError to be zero. After thinking about it, it doesn't make sense to remove the priors. Very understandable. The good news is that I'm...

So I've been looking at my odometry trying to find the issue. I tried switching out the ground truth based odometry with the odometry from the wheel encoders. The ground...