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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 updates causing jitter of robot #457

Open AWilson10 opened 4 years ago

AWilson10 commented 4 years ago

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 commented 4 years ago

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 commented 4 years ago

Thank-you, that is most helpful