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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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Cannot compute last variance #831

Open GreatOnion1221 opened 1 year ago

GreatOnion1221 commented 1 year ago

Hi, I am trying to pass 2DLidar and RealsenseD435i data to icp_odometry and display it in rtabmap. I have managed to progress to the point where I can display point cloud data and even scan data in rtabmapviz and rviz.

However, the following warning message appears during the robot's operation, and the scan data displayed in rviz deviates greatly from the actual data, resulting in a mess of map data. [WARN] (2022-10-21 15:24:46.776)OptimizerG20.cpp:1157::optimize() Computing marginals:vertex 53029 has negative hessian index (-1). Cannot compute last pose covariance.

What is happening with this warning? And how can it be resolved?

RQT_GUI is attached. Any advice you could give me would be greatly appreciated! rosgraph

matlabbe commented 1 year ago

If you can record a small rosbag until the problem appears, it will be easier to debug, or even a rtabmap's database file. IF the odometry covariance is an issue, we would see it in the database.