Using rtabmap with find_object_2d in gazebo simulation

[alexr]

Hi Mathieu,

I have used the find_oject_2d in the past however not with the rtabmap. I want to simulate an environment in gazebo with different objects and then use the find_object node with rtabmap. So rtabmap node will create the 3d map and try to find objects in the scene. The robot model I plan to use is the turtlebot. Is it possible? Since it requires image template initially, how will I create that in the gazebo. Any help would be great. Thanks.

Alex

[matlabbe]

Hi,

find_object_2d simply subscribes to any sensor_msgs/Image topic. If your camera in Gazebo publishes an image topic, you can launch find_object_2d with gui enabled to add objects from the published images.

Cheers,
Mathieu