Open a RTAB map in RVIZ

[d-otfalia]

Hello,
I'm a beginner in ROS and I want to locate my robot in a map, so I use RTAB mapping, with the command "roslaunch rtabmap_ros demo_turtlebot_mapping.launch localization:=true"  it's working until that I closed Rviz.
After that, I can't access to my map another time in RViz.
My goal is to locate the initial position of my robot in a know map at each time that I open Rviz.
Can you help me with this problem please ? :)

[matlabbe]

Hi,

When restarting the robot, the map will be published when the robot can localize in it. By "map" do you mean the 2D occupancy grid or the 3D map created by MapCloud plugin? For the later, you need to download the map using the corresponding checkbox under the plugin in RVIZ.

See section 2 of the tutorial page. After creating the map with

$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch

if you restart the robot with

$ roslaunch turtlebot_bringup minimal.launch
$ roslaunch rtabmap_ros demo_turtlebot_mapping.launch localization:=true
$ roslaunch rtabmap_ros demo_turtlebot_rviz.launch

the grid will be republished only if a loop closure is found. Make sure the camera is seeing an area mapped that has a lot of visual features.

cheers,
Mathieu