fix: allow RTAB-Map to initialize away from map origin

2026-08-10 11:59:33 +09:00
parent 42d105bad0
commit 8d6c0222ba
1 changed files with 2 additions and 2 deletions
@@ -68,7 +68,7 @@ rtabmap:
    Grid/MinClusterSize: "10"
    Grid/FlatObstacleDetected: "true"

-    RGBD/StartAtOrigin: "true"
+    RGBD/StartAtOrigin: "false"
    RGBD/LocalizationPriorError: "5.0"
    RGBD/LocalizationSmoothing: "false"
    Icp/GuessFromTf: "false"
@@ -93,4 +93,4 @@ rtabmap:
    Icp/Force4DoF: "true"
    Icp/CorrespondenceRatio: "0.02"

-    Odom/GuessMotion: "false"
+    Odom/GuessMotion: "false"