Re: ROS - 2D occupancy grid

Posted by senia on
URL: http://official-rtab-map-forum.206.s1.nabble.com/ROS-2D-occupancy-grid-tp1204p1318.html

Hi again,
only after seeing your post, I understood what the /proj_map represent, and the deference between it and the /grid_map, and why I started to get much noisier (/proj_map) grids.
So I used the depthimage_to_laserscan as you suggested, and changed this line in the launch file:
  <arg name="subscribe_scan"          default="true"/>         
(from false to true) so it will use the added /scan_topic (/scan which is created using depthimage_to_laserscan).
How could I know(using rtabmapviz) which grid map I see in the graph view, and how could I switch between them? Are they both saved?
Thank you very much.