No option to turn off update in MapsManager::generateGridMap

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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No option to turn off update in MapsManager::generateGridMap #177

Open scott-robotics opened 7 years ago

scott-robotics commented 7 years ago

Prior to 0.12.5, the parameter Grid/FullUpdate (gridIncremental_) would enable/disable updating of the gridmap in this function. Having a non-updating gridmap is very useful for localisation mode wrt to path planning. Is there a reason this functionality has been removed, or has it been moved?

Thanks!

matlabbe commented 7 years ago

I think it is because before I didn't update the grid map in localization mode with the latest sensor data, but now it does by default. To disable the update, set map_negative_poses_ignored to true for rtabmap node:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
   [...]
   <param name="map_negative_poses_ignored" value="true"/>
</node>

cheers