RTAB-Map 3D lidar + Camera

[GGYU]

Dear Mathieu,

In the turtlebot3_rgbd_scan.launch.py file, I’m currently using the 2D scan topic for SLAM. I would like to replace this with a 3D PointCloud2 topic so that I can integrate RTAB-Map SLAM together with Nav2 using full 3D data. Is this possible, and if so, could you advise how to modify the launch file and any necessary parameters to make it work?

Thank you for your guidance.

Kind Regards,

GGYU

[matlabbe]

Hi GGYU,

we have a 3D lidar example with the husky simulator: https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_demos#clearpath-husky-nav2-3d-lidar-and-rgb-d-slam



The rtabmap config part is in this file: https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_demos/launch/husky/husky_slam3d.launch.py

cheers,
Mathieu