Re: ROS - 2D occupancy grid

Posted by matlabbe on Apr 12, 2016; 10:54pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/ROS-2D-occupancy-grid-tp1204p1205.html

Hi,

In rtabmapviz, you should be also able to activate the 3D projection map with the demo robot mapping. The camera doesn't see much ground, so there will be obstacles everywhere (as the ceiling is detected as obstacle).  

In rviz, you just have to subscribe to /rtabmap/proj_map, the occupancy map will be automatically generated by rtabmap node.

Note that you may want to update rtabmap and rtabmap_ros. I recently pushed some changes about how the occupancy map is generated from projection (now handling the orientation of the camera, assuming that the camera is at the horizontal at the start).

Also, if you opened the GraphView after mapping, the occupancy maps are not automatically regenerated (only the new data will appear). To generate old maps, you must clear cache and redownload the map.

cheers