Re: RTAB-map only for mapping

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-map-only-for-mapping-tp1896p1898.html

Hi,

RTAB-Map can do 2D SLAM while having the 3D and 2D maps (this is the setup used for the Robot Mapping demo).

You don't need RTAB-Map if you just want to create a point cloud following a trajectory computed by another 2D SLAM approach (you may just subscribe to a point cloud topic and assemble them). The tricky part is to update the point cloud when a loop closure occurs. If you use only RTAB-Map for 2D SLAM, it will manage that for you.

cheers