Using a Saved RTAB-Map Database ('rtabmap.db') to Navigate a Robot in ROS 2 with Nav2 and Rviz2.

[Hamdi Sharaf]

I navigated the robot inside a 3D map while mapping, but what I want is to navigate it by using the file which saved as 'rtabmap.db'

I'm using ros2 humble

How can I launch it with nav2+rviz2?

[matlabbe]

There is a rtabmap+nav2 example here: https://github.com/introlab/rtabmap_ros/tree/ros2#example-with-turtlebot3

[Hamdi Sharaf]

Thanks for your reply. Yes, I have tried it and it worked fine. What İ meant is, how do İ use the saved map (rtabmap.db) without rebuilding a new 3D map. I want to launch "saved map" together with nav2 . My problem now is that İ cant use the saved map.

[matlabbe]

Looking at the nav2 examples of my link, there is an argument called "localization", launch it with this to true to re-use the created map in localization mode with nav2.

EDIT: Note that localization mode would work only when a camera is also used.

[Hamdi Sharaf]

Thanks, it worked.