Re: rtabmap ubuntu - difference between standalone and ROS version?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/rtabmap-ubuntu-difference-between-standalone-and-ROS-version-tp11p18.html

There are some solutions depending of what you want to do.

1) You want an occupancy 2d map:
- The grid_map_assembler node is what you want. This node subscribes to rtabmap/mapData and create a 2d map. Laser scans should be provided to rtabmap to work. If you don't have a laser, you can simulate one using the depthimage_to_laserscan node. You can take a look at the Kinect + Odometry + Fake 2D laser from Kinect configuration. If you have a laser, look at the Kinect + Odometry + 2D laser configuration.

2) You want a 3D map for vizualization only
- There is the RVIZ MapCloud plugin that can be used. It will subscribe to rtabmap/MapData topic and incrementally generate the point cloud in RVIZ, also correct the point clouds when loop closures are detected (when poses/constraints in MapData has changed).

3) You want to subscribe to a generated 3D map.
- The map_assembler node is what you want. This node subscribes to rtabmap/mapData and creates a 3d map. It works like the RVIZ MapCloud plugin but publishes the 3D map as a sensor_msgs/PointCloud2.