Re: Velodyne VLP16 in RTab map

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Velodyne-VLP16-in-RTab-map-tp10892p11085.html


With a 3D lidar, RTAB-Map doesn't need /scan, but /scan_cloud topic, which could be a remap from /velodyne_points -> /scan_cloud.

If you try velodyne in simulation, you may check the Husky examples here:
https://github.com/introlab/rtabmap_ros/tree/ros2/rtabmap_demos#clearpath-husky-nav2-3d-lidar-and-rgb-d-slam

Note that to get good lidar generation in gazebo ignition, do what is explained here (ref issue).

cheers,
Mathieu