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-tp11p20.html


I recommend to try the demo_robot_mapping_rviz.launch to see what is going on. Launch the demo and you can start "rqt_graph" to see how the nodes are connected. When RVIZ is opened, you should check the Map display (which not shown by default) to see the OccupancyGrid generated.

$ roslaunch rtabmap demo_robot_mapping_rviz.launch
$ rosbag play --clock demo_mapping.bag
$ rqt_graph

You should see something like in this video.

"MapData" is the name of the message type, "mapData" is the topic name (which can be renamed to anything with the <remap> tag in the launch files). In RVIZ, you should select the topic under the MapData display.