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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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Creating RTABMAP from Ground Truth Poses #1168

Closed lakshmikanth-nageswar closed 4 months ago

lakshmikanth-nageswar commented 5 months ago

Can we perform mapping against known ground truth poses? I am particularly looking for mapping in RGBD mode with known ground truth poses. Kindly describe the procedure if it's possible.

Your help would be greatly appreciated !

matlabbe commented 5 months ago

Yes it could be possible. You can feed the ground truth pose as odometry topic with very small covariance, or use odom_frame_id to use TF instead. Another way is to provide /rtabmap/global_pose topic instead along your normal odometry, with Optimizer/PriorsIgnored=False.

You can disable loop closure detection by setting Kp/MaxFeatures=-1.