Re: Mapping and Navigation with Intel R200 depth camera

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Mapping-and-Navigation-with-Intel-R200-depth-camera-tp2583p2606.html

rtabmap node (/proj_map) and obstacles_detection nodelet compute the same thing. They segment the obstacles and ground using the same code under the hood. The "Grid/" parameters can be set to rtabmap node and obstacles_detection nodelet (>=0.11.11). rtabmap node does it only for nodes added to map (at its update rate, default 1 Hz).

$ rosrun rtabmap_ros rtabmap --params | grep Grid/

For "remap" tags in launch file, the "from" parameter is the hard-coded name of the topic set in the node/nodelet and the "to" is to which topic we want to rename/connect it.