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-tp10847p11316.html

I suggest to create your own launch file instead of using rtabmap.launch.py (which requires at least a camera). You can look at this demo: husky_sim_scan3d_demo.launch.py 

From nav2 point of view, you need to disable map_server/amcl, and connect/remap the map topic from rtabmap node to global costmap input topic name (usually /map).

cheers,
Mathieu