I am trying to use RTAB-MAP for indoor autonomous navigation. I am fairly new to robotics. The only camera I can use right now is a Realsense t265. I used yaml_to_camera_info.py to publish the calibration info, and then started rtabmap with:
'roslaunch rtabmap_ros rtabmap.launch args:="-d --udebug --Rtabmap/ImagesAlreadyRectified false" stereo:=true left_image_topic:=/camera/fisheye1/image_raw right_image_topic:=/camera/fisheye2/image_raw left_camera_info_topic:=/camera/fisheye1/camera_info_calib right_camera_info_topic:=/camera/fisheye2/camera_info_calib visual_odometry:=false odom_frame_id:=camera_odom_frame'
The output I get is:
I don't know if it is working properly, it seems a little messy to me.
How can I get an occupancy grid from here?
I checked the topic '/rtabmap/proj_map' and it is not publishing data while the application is running. Any help would be much appreciated.