Re: RGB-D Mapping with Laser scanner

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-Mapping-with-Laser-scanner-tp25p137.html

I've made a new launch file to show how to integrate hector_mapping with rtabmap  if you have a laser scanner and no odometry. You can download it here: demo_hector_mapping.launch. The important thing about hector_mapping is that parameter pub_odometry should be true in order to publish the odometry topic "/scanmatch_odom".

Example with the demo_mapping.bag (you should remove the "/odom" tf from the bag first):

$ rosbag filter demo_mapping.bag demo_mapping_no_odom.bag 'topic != "/tf" or topic == "/tf" and m.transforms[0].header.frame_id != "/odom"'
$ roslaunch rtabmap_ros demo_hector_mapping.launch rviz:=true rtabmapviz:=false
$ rosbag play --clock demo_mapping_no_odom.bag

You can choose visualization between rviz and rtabmapviz with the according argument.

To generate a (.ply), if you use the rtabmapviz, you can directly export using the menu. Another way is to open the database in rtabmap standalone application and export the cloud, see Export cloud section of this page .