Can rtabmap use a existing 3D map to navigation? like octomap?

[vlon]

Hi! I already export a octomap with ratbmap, but can I use the octomap to navigation in the rtabmap? Or can I use other type of map to navigation in rtabmap?

[matlabbe]

Hi,

You may start with move_base for 2d navigation by connecting the 2d occupancy grid map generated by rtabmap.

Rtabmap can provide a 3d octomap and 2d occupancy grid, but we cannot feed these kind of maps to rtabmap. Rtabmap has its own format used to generate these maps.

Cheers,
Mathieu

[vlon]

thanks！

[vlon]

Hi,

Still me,

How can I save the 2d occupancy grid map generated by rtabmap?Use the "map_server map_saver -f path:"?

And,how can use the 2d occupancy grid map generated by rtabmap in rtabmap to navigation?

 I tried the follow way, but can't work, I add the follow to my launch file

  <arg name="map_file" default="$(env TURTLEBOT_MAP_FILE)"/>
  <node name="map_server" pkg="map_server" type="map_server" args="$(find rtabmap_ros)/maps/test_map.yaml" />
the map was saved by map_server.

this can generate a 2d occupancy grid map too, but I don't kown how to save the map.

[matlabbe]

Hi,

See 2.2 and 3.1 on this page: http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMapping

the 2d map is saved indirectly inside rtabmap's database (default: ~/.ros/rtabmap.db). To re-use it, set rtabmap in localization mode as shown in the link above, so that rtabmap.db is loaded for localization.

cheers,
Mathieu

[vlon]

Thanks a lot.

I ran the rtabmap with localization model,and I can send a goal, the localpath topic was working ,but there doesn't have acmd_vel topic,which to  make my robot move , how can i get cmd_vel with rtab_map.

[matlabbe]

Hi,

this is a move_base related question. Try move_base tutorials. After making move the robot using move_base tutorials (which would use gmapping+map_server+amcl for slam), you can then check in depth how rtabmap+turtlebot navigation tutorial is working (to replace gmapping+map_server+amcl block by rtabmap).

cheers,
Mathieu