Adding another contraints

[takahiko-hasegawa-hdjp]

Im trying to add another constraint to rtabmap.
First in the database ".db"
and then load the map in localisation mode and then use that added constraint to aid localization.

Which bit of code would you suggest to look at in order to add another constraint?

[matlabbe]

You can add a constraint with rtabmap-databaseViewer -> Constraints View. If the constraint cannot be computed automatically, you will be asked if you want to add it manually. When closing the datatabase, you will be asked if you want to save the link changes, say yes.

Under ROS, you can add a new constraint with this service:

rosservice call /rtabmap/add_link

however, you must already know which nodes you want to connect, so the databaseViewer approach may be more convenient.