Re: RTAB-map only for mapping

Posted by Shirantha on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-map-only-for-mapping-tp1896p2376.html

Hi Sir,

Now I have a clear understanding about ROS topics, nodes. but I need more research on PCL.

Could you please tell me how should I,

1. Start writing the subscriber to follow the trajectory given by the 2D SLAM using PCL (as u mentioned    above)

2. Write the algorithm to transform the ordered point cloud in case of a loop closure or any other trajectory change.

3. Take the final output map and in which format. Also, the maximum supported size of such a map that can be built.

4. Are there any GPU requirements for the robot in implementing such algorithms (unfortunately our robot does not have a dedicated GPU. we are using an Intel corei5 motherboard with the onboard VGA)

Thank you.