Comments (2)
Hi,
It handles dynamic objects implicitly when a new node is added in the map, but only for 2D mapping (2D maps). For example, the new laser scan will write over obstacle cells to clean objects removed. If the robot is not moving, the map is not updated though, so the removed object would be still there. For the 3D point cloud, there is no filtering (only temporary if you set <param name="cloud_frustum_culling" type="bool" value="true"
for the rtabmap/cloud_map
output topic).
rtabmapviz and MapCloud plugin don't do frustum culling. They only keep the latest node in a fixed radius. In rtabmapviz, you can change this setting under 3D rendering panel in Preferences. For MapCloud plugin in RVIZ, there are Node filtering radius
and Node filtering angle
parameters. For all map output topics from rtabmap node: see map_filter_radius
and map_filter_radius
parameters.
The octomap can be generated from a service request to rtabmap node: /rtabmap/octomap_full
or /rtabmap/octomap_binary
services. Or you can connect /rtabmap/cloud_map
topic to an octomap_server, for which an octomap will be built again on each map update (so including graph optimization following a loop closure). You may want to tune the output /rtabmap/cloud_map
topic to generate less points. See cloud_map
related parameters of rtabmap node. Well, the map_assembler node is not required anymore to assemble a point cloud, the rtabmap node does it too as shown above.
cheers
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In that case, I will build my own octomap from sensor and location data and use raytracing to clean map from removed obstacles. Loop closure will be probably very expensive and I may have to integrate only some nodes (discard similar ones), but I believe it should be feasible. Thank you!
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Related Issues (20)
- Thx for this database. Odometry is a lot better now. One problem I see when opening it on my side is that g2o (which is the optimizer used) breaks the map at some point. All poses are 2D and the graph is optimized in 2D, but we get errors in Z like this:
- Can I load a map and localize the camera and pose within the map? HOT 4
- Huge optimization error may cause the system to stop when using robust graph optimization HOT 2
- Recommended Raspberry Pi for running this? HOT 1
- Using Elevation Mapping instead of OctoMap in ROS-noetic HOT 4
- SuperPoint with no GPU HOT 1
- mac build error HOT 4
- rtabmap.db is empty HOT 3
- Custom VIO into Rtabmap HOT 10
- Ignore landmarks for optimisation HOT 1
- public local occupancy map by only using stereo camera HOT 1
- performance difference when running superglue from python and rtabmap_matcher HOT 2
- RTABM HOT 1
- rtabmap+vinsfusion,The problem encountered when running rtabmap.launch. HOT 7
- DatabaseViewer: "Condition (cellSize > 0.0f) not met!" when open Graph view and database doesn't have local grids
- Map correction decays to identity when static HOT 5
- How to get apriltags' corner location and ID HOT 3
- Odometry Process Error HOT 2
- Low memory footprint mode using memory management only for visual features HOT 1
- iOS - voxelize point cloud HOT 1
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