Re: Build octomap with rtabmap?

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Build-octomap-with-rtabmap-tp68p2671.html

Hi,

From mid 2016 I think, rtabmap publishes directly an octomap for convenience. See /rtabmap/octomap_binary or /rtabmap/octomap_full output topics. The advantage to use octomap output from rtabmap is that on loop closure, the octomap is corrected efficiently.

cheers,
Mathieu