Re: RTAB map using a Livox Lidar

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-map-using-a-Livox-Lidar-tp10847p10855.html

You should use rtabmap_ros, not rtabmap standalone app. You may look at the examples here: https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_examples/launch

Some of them are based on /velodyne_points topic and "velodyne" frame_id, but you could change the parameters/topic to match your lidar topic and frame.

For example: https://github.com/introlab/rtabmap_ros/blob/ros2/rtabmap_examples/launch/lidar3d.launch.py

ros2 launch rtabmap_examples lidar3d.launch.py lidar_topic:=/velodyne_points frame_id:=velodyne

EDIT: based on info your post, you may try this:

ros2 launch rtabmap_examples lidar3d.launch.py lidar_topic:=/livox/lidar  frame_id:=livox_frame