Re: ROS - 2D occupancy grid

Posted by matlabbe on Apr 13, 2016; 5:33pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/ROS-2D-occupancy-grid-tp1204p1210.html

In rtabmapviz, you can right-click on the GraphView to save the map:


The resulting map is saved by default on ROS in "~/.ros/ScreensCaptured" folder. Each cell corresponds to 1 pixel, by default it is 5 cm / cell:


I updated the context menu to hide the graph for example, if we just want the map. The example above was done live (with a Kinect):

$ roslaunch freenect_launch freenect.launch depth_registration:=true
$ roslaunch rtabmap_ros rgbd_mapping.launch rtabmap_args:="--delete_db_on_start"

// In rtabmapviz, open Preferences->3D Rendering, then check 
// "Occupancy from 3D cloud projection on the ground." Click ok, 
// then show up the Graph View in Window->Show view... ->Graph view.

cheers