Re: Navigation with Rtabmap and Stereo Camera

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Navigation-with-Rtabmap-and-Stereo-Camera-tp10644p10669.html


1. The "planner_cloud" is coming from rtabmap_util/obstacles_detection nodelet (remap from the obstacles cloud), which segments the point cloud from rtabmap_util/point_cloud_xyz, which is generated from the disparity image of the camera.

You can use `rqt_graph` to better see how topics are linked.

2. The topic "/stereo_inertial_publisher/stereo/depth" sounds more like a depth image than a point cloud. point_cloud_xyz node can convert the depth image into a point cloud, than you can feed that point cloud to obstacles_detection.

You can also do `rosnode info ...` to see if the topic remaps worked or not, or to just know which topics the nodes are subscribed to and topics that are published.