Visualizing RTAB Map with ROS on different computer

[Jacobmo]

I am implementing RTAB Map through ROS on a robot via ssh. There is no screen to visualize anything on the robot. I would like to view the RTAB visualization GUI on my computer that I am ssh-ing into the robot with. I have found out how to get RVIZ visualization working by changing the ROS_MASTER_URI, But I have not been able to get that to work with the RTAB-Map Visualization GUI. Is there a simple solution for that? I would much prefer to see the rtabmap gui if possible from my computer.

[matlabbe]

Hi,

On remote computer:
1- setup ROS_MASTER_URI so that roscore from your robot is used, example:

$ export ROS_MASTER_URI=http://192.168.0.3:11311/

2- if rtabmap is started in "rtabmap" namespace:

$ export ROS_NAMESPACE=rtabmap

3- Start rtabmapviz:

$ rosrun rtabmap_ros rtabmapviz

rtabmapviz should be connected on /rtabmap/mapData from rtabmap node running on the robot.

cheers,
Mathieu

[Jacobmo]

Thank you, that works