rtabmap 2d mapping

[Jimmy Notron]

hi every one
i wanna extracting 2d map from rtabmap
how i can do it?

[matlabbe]

Hi,

see /grid_map or /proj_map topics on rtabmap_ros wiki.

cheers

[Jimmy Notron]

Hi
proj_map is not 2d map its projection in plan with initial constant angle i think
 i mean i need  2d map from top view

and grid map is just grid of the map and doesn't have  wall and obstacle

[matlabbe]

Hi,

A 2D map is an occupancy grid map (standard ROS). If you want a 2D view (top-down) of a 3D map, you can select Ortho view in RVIZ (see view options).

cheers