Map Empty && Clearing Obstacles

[anath93]

Hello,

I am seeing two issues here, once the subscribe stereo is set to True, the grid map is never published. Using rgb-d sync only it works, checked rqt where the option was true but and camera nodes were subscribed but no map is generated.

Second, I did review your forum page about clearing obstacles. I did open databaseviewer --> export optimized map --> open in gimp --> cleared obstacles --> closed gimp and databaseview by saving --> reload rtabmap in localization mode

Finally looks like I found the issue, it happens when I see the tag and map gets optimized bringing back cleared obstacles. If I do not see tags, it works fine.

[matlabbe]

once the subscribe stereo is set to True, the grid map is never published.

Are there warnings every 5 sec telling that stereo topics have not been received? When setting subscribe_stereo to true, by default we switch approx_sync to false assuming that all stereo topics can be exactly synchronized. If it is not the case, approx_sync can be set explicitly to true, but I don't recommend this with stereo data.

For the map re-assembled issue, which version of rtabmap are you using? I could not reproduce it here: