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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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Can i disabled loop closure detect when i mapping and localization #1030

Open tim199912 opened 1 year ago

tim199912 commented 1 year ago

I use RTABMap in ros2,and use RGBD odometry node. Is there any one parameters that can be turned off loop closure detect when i mapping and localization.

Thanks a lot. Tim

matlabbe commented 1 year ago

If you turn off loop closure detection in localization mode, the robot won't localize in the map.

To disable it in mapping mode, an efficient way to disable it is to set Kp/MaxFeatures=-1.

tim199912 commented 1 year ago

Thank you for your reply, I will test it as soon as possible.

tim199912 commented 1 year ago

Thank you for your reply,i will test it as soon as possible.

matlabbe @.***> 於 2023年9月10日 週日 上午3:46寫道：

If you turn off loop closure detection in localization mode, the robot won't localize in the map.

To disable it in mapping mode, an efficient way to disable it is to set Kp/MaxFeatures=-1.

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