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I am working on turtlebot3 ROS with Cartographer SLAM.
Now I have ground-truth odometry from a Gazebo plugin, and I know that I can disable Global SLAM by setting the POSE_GRAPH.optimize_every_n_nodes = 0.
Now I want to turn off the Local SLAM, which means I want to make use of the odometry and scans only to make a map, and do not want the Ceres scan matcher to estimate the robot pose based on scans.
I try to set these two parameters as 0 but it will in Rviz the robot will not move anymore.
TRAJECTORY_BUILDER_nD.ceres_scan_matcher.translation_weight
TRAJECTORY_BUILDER_nD.ceres_scan_matcher.rotation_weight
Could you please tell me how to turn off the Ceres scan matcher? Thanks in advance.
Cheers
Leo
The text was updated successfully, but these errors were encountered:
Hi there,
I am working on turtlebot3 ROS with Cartographer SLAM.
Now I have ground-truth odometry from a Gazebo plugin, and I know that I can disable Global SLAM by setting the POSE_GRAPH.optimize_every_n_nodes = 0.
Now I want to turn off the Local SLAM, which means I want to make use of the odometry and scans only to make a map, and do not want the Ceres scan matcher to estimate the robot pose based on scans.
I try to set these two parameters as 0 but it will in Rviz the robot will not move anymore.
TRAJECTORY_BUILDER_nD.ceres_scan_matcher.translation_weight
TRAJECTORY_BUILDER_nD.ceres_scan_matcher.rotation_weight
Could you please tell me how to turn off the Ceres scan matcher? Thanks in advance.
Cheers
Leo
The text was updated successfully, but these errors were encountered: