LIDAR Localization Problem: Robot Fails to Correct Axis Misalignment

[brayanpa]

Hi Mathieu,

We are currently using RTAB-Map configured exclusively with LIDARs, and I am experiencing some issues where the robot struggles to localize itself. I’ve noticed this tends to happen when the walls along one axis (e.g., the Y-axis relative to base_link) align with the LIDAR. In these situations, the robot does not attempt to correct the incorrect axis.

I have attached some images and the parameters we are currently using. Any suggestions on which parameters to adjust would be greatly appreciated.

Thank you.
rtabmap_params.txt

[matlabbe]

Is there any warning on the terminal? Based on your parameters, it should "snap" on the map:

Icp/MaxCorrespondenceDistance: '1.0'
Icp/MaxTranslation: '3.0'

The correspondences should be under 1 meter in that case and the translation correction would be under 3 meters. If you can enable Debug log and copy/paste the log when the robot is in that kind of mislocalization, that would be useful.

Also make sure you don't have multiple nodes publishing the same TF.