I'm new to this stuff but I'm looking to simulate a drone that can navigate to specific points of interest avoiding obstacles as it goes. I have a drone simulated with a depth camera and IMU using ROS and Gazebo. I have RTAB-Map running, but the navigation in 3D doesn't seem to work. My understanding is it's navigating system is meant for 2D and you need something like octomap to do 3D navigation.
My two questions are
What value does octomap provide that allows us to navigate in 3D? Basically why is it necessary? Can I still use the goal topic to navigate to points through rtabmap?
I have RTAB-Map running but could not get it working with VIO. I had to use odometry from my simulation environment, which will not be allowed for the project I'm doing. I have more information regarding that question on this github.
In short, I have a working-ish mapping algorithm through rtabmap, but need to get 3D path planning for a UAV.
Thanks for any help you can provide.