Getting the following error

Course Support RTABMap in ROS 101
1

During localization, sometimes I get the correct map:

Screenshot from 2020-02-16 21-32-15
Screenshot from 2020-02-16 21-32-151366×768 324 KB
Screenshot from 2020-02-16 21-29-52
Screenshot from 2020-02-16 21-29-521366×768 370 KB

So when I get the RTAB map moving around, I get the following warning:

[ WARN] (2020-02-16 16:03:14.831) Rtabmap.cpp:2144::process() Rejected loop closure 668 → 1790: Cannot computetransform (ICP correction too large → 0.987406 m 0.230380 rad, limits=0.200000 m, 0.780000 rad)

and sometimes

[ WARN] (2020-02-16 16:08:32.509) Rtabmap.cpp:2144::process() Rejected loop closure 679 → 1938: Not enough inliers 0/5 (matches=1) between 679 and 1938

Why is this error coming?

2

Hello @hrushikesh.kyathari,

This issue seems to be related to a bad loop-closure detection. The loop-closure process is explained in this same notebook, between the Mapping and Localization sections. For what I can see from your post, it looks like RTABMap is trying to find a loop-closure within the database’s images, but it’s not finding any, which makes the Localization of the robot bad. Is this happening very often? Or just in rare occasions?

Best,