matlabbe

Gazebo would publish the topic `/odom` and the TF `odom->base_link`, which will change as soon as the robot is moving. `rtabmap` will publish TF `map->odom`, which will change only when...

In latest version, the new default is that `/rtabmap/localization_pose` is always published, unless [`pub_loc_pose_only_when_localizing`](https://github.com/introlab/rtabmap_ros/commit/1a87f1598df2a40d01b230808074b45c9a26039e) is true. Other option is to lookup transform `map->base_link` when receiving `rtabmap/info` message (at time in...

For map->odom TF, the timestamp should updated (even in the future) and published at 20 Hz (default), with or without loop closures. https://github.com/introlab/rtabmap_ros/blob/bfef9eed544ef5605cf22ce727584d4563a2e630/rtabmap_slam/src/CoreWrapper.cpp#L689-L697 We do use `now()` as suggested in...

It seems rtabmap library is built with ZED support, check if the zed library is correctly detected with the installed rtabmap library: ``` ldd /usr/local/lib/librtabmap_core.so | grep zed libsl_zed.so =>...

Which version are you using? Tried on my computer: ``` roslaunch rtabmap_launch rtabmap.launch depth_topic:=/slam/depth_image rgb_topic:=/slam/image camera_info_topic:=/slam/camera_info rtabmapviz:=true mapping:=true frame_id:=fcu visual_odometry:=false odom_topic:=/mavros/local_position/odom ... logging to /home/mathieu/.ros/log/236d8d9e-7380-11ee-95bf-d93a9a424f56/roslaunch-RBLT-MLABBE-01-784211.log Checking log directory for disk...

I'll need to doublecheck what was exactly the g2o version in melodic, rtabmap would have support it, unless it is related to this [update](https://github.com/introlab/rtabmap/commit/85cc6fe3c742855ad16c8442895e12dbb10b6e8b) for latest g2o version (thus breaking...

Hi, Is the second figure created with Cartographer? What are the `Grid/****` parameters that you used for rtabmap? To know in particular if that 2D occupancy grid map is created...

2D (rtabmap ray tracing):  3D (octomap ray tracing):  In both cases, the ray tracing seems overshooting a little, maybe because of angle...

The farther it is, the more accurate the [slope computation](https://github.com/introlab/rtabmap/blob/a94a4c9802d412106849ba47817e9766f246705b/corelib/src/util3d_mapping.cpp#L826-L905) should be. Don't know if using double instead of float in that function could help for ray tracing on far...

The ray tracibg for the 3d case is done by the OctoMap library. You may do a similar hack in their code.