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-tp1896p2457.html

With rgbdicp_odomerty, you can synchronize a laser scan or a PointCloud2 for ICP refining after computing the visual transformation (the "rgbd" part). It is experimental, so the documentation is not yet done. To save computation time I prefer using ICP refining on rtabmap node (which is done at lower Hz). However, if you need that odometry includes ICP refining, this is the way to go.

cheers,
Mathieu