How to get the 2D map made from 2D LiDAR and the 3D map made from the RGBD camera at the same time

[miraikaihatsu]

Hi, matlabbe
I have a 2D LiDAR and a RGBD camera. Is there any way to create 2D map using 2DLiDAR and 3D map using the RGBD camera at the same time? I plan to execute navigation on an occupied grid map made by 2D LiDAR and want to display the 3D map along with it.
I have already tried setting the parameter "Grid/FromDepth". If set this parameter to true, get an octomap and a 2D map, but it is not made from LiDAR, but from an RGBD camera. If set the parameter to false, I can see the 2D map made from LiDAR, but no octomap.  

Thank you.

[matlabbe]

Hi,

If you just want to display the 3D point cloud, you can use the rtabmap's MapCloud plugin in rviz to show it, and use Grid/FromDepth=false to have the 2D map created from lidar. This is similar to the robot mapping with RVIZ demo.

If you need an octomap, you may use rtabmap_util/map_assembler with regenerate_local_grids=true and Grid/FromDepth=True.

cheers,
Mathieu

[miraikaihatsu]

Hi, Really Thank you!
lidar 2D map and octomap could be displayed in Rviz at the same time. Also, I learned that depending on the configuration, 3D point clouds and 2D maps can be output simultaneously from either the rtabmap node or the map_assembler node.