Re: RGB-D Mapping with Laser scanner

Posted by Kazu on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RGB-D-Mapping-with-Laser-scanner-tp25p147.html

I finally could make it!

First, I changed "/jn0/base_can" to "/scan" and image parameters (incl. rgb and depth) as you mentioned, then I looked rqt_graph to examine if each node/topic was working; it was what I expected.
Second, as you suggested, I checked if the topics were sent, but they weren't so I restarted the system.  After restarting my system, the topics were sent, but a map didn't show up.  It was when I realized that the tf transform I set was not proper; I forgot to add some so modified tf transforms.

Eventually, the map was built in rviz; so I ran
$ roslaunch rtabmap_ros demo_hector_mapping.launch rviz:=false rtabmapviz:=true
in our hallway and could export .ply file with high accuracy of dimension; that will definitely be useful on our project.

I greatly appreciate your help!


May I confirm about citation; it is what described here (2. Citing), isn't it?
http://wiki.ros.org/rtabmap

Thanks,
Kazu