Map updates causing jitter of robot

[AWilson10]

Is it possible to pause / switch off localisation without terminating rtab. Or if we could increase a parameter like MaxInliers to prevent the map getting updated dynamically? We are running in localisation mode, but find that once localised the robot jumps around / jitters by a few centimeters each time there is an update or loop closure. We hoped to freeze this and unfreeze. Is this possible?

[matlabbe]

You can call /rtabmap/pause and /rtabmap/resume services. The jumps in /map frame follows REP105: https://www.ros.org/reps/rep-0105.html#map If you need to do local planning, use /odom frame instead, which should be continuous.

[AWilson10]

Thank-you, that is most helpful