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introlab / rtabmap

RTAB-Map library and standalone application
https://introlab.github.io/rtabmap
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RTABMAP not working when there is a rtabmap.db previously saved #686

Open sisaha9 opened 3 years ago

sisaha9 commented 3 years ago

mapping.zip

Here you can find our mapping and parameter file. This is how we run it. We first run with localization set to False and map around. We can see it updating on rtabmaprviz. We then exit, it saves and we run with localization set to True. This fails and the rtabmapviz can't subscribe to anything apparently. If we try mapping again with localization set to False it gives the same error. If we remove the rtabmap.db it runs fine (both localization False and True do not give errors anymore). Issue is we do actually need to store the rtabmap.db. Also if we view the rtabmap.db after localization set to False it initally has plenty of images. We get a prompt asking to use database parameters. We say no and we get only 1 image recoded instead of the bunch that did get recorded. Any help would be great

sisaha9 commented 3 years ago

To add on these same files were working on a simulator (https://github.com/sisaha9/dsc180a-slam-simulator) minus some of the custom transforms you see in the mapping.launch file since we don't have it set up on our car. We also did change topic names. Shouldn't be an issue though

Another thing we notice in the real world is it always says new ID in rtabmap rviz and never does any of the green red yellow confirmations in hypothesis testing

sisaha9 commented 3 years ago

When we exit mapping it also says the rtabmap.db that gets saved is 0MB