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Hard coded create occupacy grid in localization mode

Open dimitryn opened this issue 2 years ago • 2 comments

Hi , why in CoreWrapper.cpp there is uInsert(allParameters, ParametersPair(Parameters::kRGBDCreateOccupancyGrid(), "true"));? How can I run in localization mode without creating occupacy grid ? Thanks

dimitryn avatar Mar 13 '23 09:03 dimitryn

on same issue changing uInsert(allParameters, ParametersPair(Parameters::kRGBDCreateOccupancyGrid(), "true")) to uInsert(allParameters, ParametersPair(Parameters::kRGBDCreateOccupancyGrid(), "false")) not preventing from create occupacy grid. what configuration needed not to enter if(_createOccupancyGrid && !isIntermediateNode) ? Thanks

dimitryn avatar Mar 15 '23 15:03 dimitryn

By default on ROS, we set RGBD/CreateOccupancyGrid to true. The following code reads config file, rosparam or arguments that can overwrite it:

https://github.com/introlab/rtabmap_ros/blob/49cbce487426bbddfe0eaff07f371c2324e094d1/rtabmap_slam/src/CoreWrapper.cpp#L335-L405

Launch with argument "--RGBD/CreateOccupancyGrid false" or set rosparam <param name="RGBD/CreateOccupancyGrid" value="false"/>

matlabbe avatar Mar 23 '23 05:03 matlabbe