Using RTAB-Map for Offline Mapping and AMCL for Navigation with Nav2

[lena]

Hello, I would like to ask if the following process is feasible:

Use RTAB-Map for sensor fusion and mapping to create a map.

Save the generated map using the map_server.

Later, use that saved map with Nav2 and AMCL for navigation and localization, without running RTAB-Map again.

For dynamic obstacle detection, use the voxel_layer in nav2_costmap_2d.

Is this workflow correct and supported?

[matlabbe]

That workflow is possible, though you may lose global re-localization from rtabmap if you use AMCL (though only if you were using cameras).

If you are using cameras, you would need a way to convert the camera data into a fake laser scan to be provided to AMCL. If you are using already a 2D lidar, and rtabmap used it also for mapping, so yeah, AMCL could work well on that map.

cheers,
Mathieu