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introlab / rtabmap_ros

RTAB-Map's ROS package.
http://wiki.ros.org/rtabmap_ros
BSD 3-Clause "New" or "Revised" License
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/map topic only showing the last session. #1005

Closed brayanpa closed 1 year ago

brayanpa commented 1 year ago

Hello Mathieu, I hope you're doing well.

I am currently facing an issue while mapping a large environment using multi-session. I found a problem while making a new session. The map from the first session disappears from the topic /map and doesn't show up even after exploring that area further. I have looked at the topic /cloudmap (green color in Fig1) and there the merged sessions are shown, while in /map only the last session is shown (white color in Fig1)_. I am seeking assistance on how to make the merged map appear on /map.

I attempted using the /publish_map service, but it did not yield the desired results. The only progress I've made is by running rtabmap-recovery on the database, after this, the complete map appears in /map as shown in Fig2, but it's a process that takes a long time and doesn't solve the problem during the mapping process.

image Fig1. /map topic showing only the last session.

image Fig2. Expected behavior topic /map showing the entire map.

Thank you so much.

matlabbe commented 1 year ago

Upon merging, the whole occupancy grid should be regenerated. I have difficulty to reproduce your issue. How did you trigger a new session, by restarting the rtabmap node or calling trigger_new_map service? Can you also show the rtabmap parameters you used in your launch file?

brayanpa commented 1 year ago

I've been playing around with the parameters a lot and found that it only happens when the Optimizer/Robust parameter is enabled.

I am starting a new session by launching rtabmap again.

brayanpa commented 1 year ago

I will close the issue since everything is working correctly with Optimizer/Robust False and RGBD/OptimizeMaxError 3.

Thank you very much for the help.