Re: ROS - 2D occupancy grid

Posted by matlabbe on May 20, 2016; 4:23pm
URL: http://official-rtab-map-forum.206.s1.nabble.com/ROS-2D-occupancy-grid-tp1204p1322.html

Hi,

By default in rtabmapviz, if the nodes contain laser scans, the grid map shown in Graph View is the one built by the laser scans (it would be similar than topic /rtabmap/grid_map).

To show the grid map computed by projection of the point clouds on the ground (like topic /rtabmap/proj_map), open Preferences -> 3D Rendering, then check "Occupancy from 3D cloud projection on the ground. Laser scans are ignored when activated." under Occupancy Grid Map section.

You would have to refresh the cache when switching from one version to the other in order to regenerate the grid map. "Edit-> Clear the cache", then "Edit -> Download all clouds".

For information, the occupancy grid maps are not saved as is in the database, they are always regenerated when the database is opened again.

cheers