Making a Slam using Rose 2 Jazzy and Gzsim

[ysfkarakus1919]

Hello,
 I am using ROS 2 Jazzy and GzSim. My robot provides the following topics:  
```
-p frame_id:=base_footprint \
-p odom_topic:=/odometry/filtered \
-r rgb/image:=/rgb/image \
-r depth/image:=/depth/image \
-r rgb/camera_info:=/rgb/camera_info
```
I want to use these topics with RTAB-Map for SLAM. Additionally, I would like to include visual odometry in my filtering process. I am not sure how to set this up. How can I create the launch file?  
Also, in outdoor SLAM, should I use a LiDAR, or is a stereo camera sufficient?  

[matlabbe]

You may browse demos here https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos to see if you can find something similar to what you are doing.

If you start without visual odometry, you may look at this demo: https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/README.md#turtlebot3-nav2-and-rgb-d-slam

ysfkarakus1919 wrote

Also, in outdoor SLAM, should I use a LiDAR, or is a stereo camera sufficient?

Both alone or combined can be used outdoor, it would depend what kind of sensors you have and what kind of environment the robot will face.