ROS - 2D occupancy grid

Posted by senia on
URL: http://official-rtab-map-forum.206.s1.nabble.com/ROS-2D-occupancy-grid-tp1204.html

Hi,
Im using rtabmap with R200 in ROS, using the "rgbd_mapping" launch file.
I want to see the 2D occupancy grid, as I enabled in the standalone version by checking "Occupancy from 3D cloud projection on the ground.", Yet I only see the path walked(image attached). I found and run the demo robot mapping example Yet I couldn't understand what makes that launch file show the 2D grid. I didnt manage to make it work with the R200, and copying the "RTAB-Map's parameters" from the example to the rgbd_mapping launch file didn't worked either.
Hope to get a hint and explanation.
Thank you.