Re: rtabmap in my robot
Posted by
matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-in-my-robot-tp1350p1355.html
Hi,
1) 3D and 2D formats are not compatible (point cloud / octomap vs 2d occupancy grid map). However, you can have both on respective topics: /rtabmap/cloud_map and /rtabmap/grid_map.
2) 2.4.11 should be ok (if rtabmap cannot be built with it, is is a bug), though I recommend the one used by your ROS distribution.
3) rtabmap can provide a global occupancy grid map for move_base, then for obstacle avoidance and navigation stuff, you should look the
navigation's tutorials. There is a navigation example working on Turtlebot here:
http://wiki.ros.org/rtabmap_ros/Tutorials/MappingAndNavigationOnTurtlebotcheers