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Dear Matlabbe,

Thank you for your answer! I was able to fix it by setting:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
    <param name="map_negative_poses_ignored" type="bool" value="true"/>
    (...)
</node>

This way, the obstacles behind the robot no longer disappear.

Sadly, the "better fix" with:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
    <param name="flip_scan" type="bool" value="true"/>
    (...)
</node>

Did not work. Do you have any idea why?

Thanks!

Dear Matlabbe,

Thank you for your answer! I was able to fix it by setting:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
    <param name="map_negative_poses_ignored" type="bool" value="true"/>
    (...)
</node>

This way, the obstacles behind the robot no longer disappear.

Sadly, the "better fix" with:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
    <param name="flip_scan" type="bool" value="true"/>
    (...)
</node>

Did not work. Do you have any idea why?

Thanks!

Dear Matlabbe,

Thank you for your answer! I was able to fix it by setting:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
    <param name="map_negative_poses_ignored" type="bool" value="true"/>
    (...)
</node>

This way, the obstacles behind the robot no longer disappear.disappear (Ubuntu 16.04, ROS Kinetic, Rtabmap compiled from Source Feb 2017).

Sadly, the "better fix" with:

<node pkg="rtabmap_ros" type="rtabmap" name="rtabmap">
    <param name="flip_scan" type="bool" value="true"/>
    (...)
</node>

Did not work. Do you have any idea why?

Thanks!