Creating RTABMAP from Ground Truth Poses

[lakshmikanth-nageswar]

Can we perform mapping against known ground truth poses? I am particularly looking for mapping in RGBD mode with known ground truth poses. Kindly describe the procedure if it's possible.

Your help would be greatly appreciated !

[matlabbe]

Yes it could be possible. You can feed the ground truth pose as odometry topic with very small covariance, or use odom_frame_id to use TF instead. Another way is to provide /rtabmap/global_pose topic instead along your normal odometry, with Optimizer/PriorsIgnored=False.

You can disable loop closure detection by setting Kp/MaxFeatures=-1.