Re: How to extend RTAB-Map Database information

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-extend-RTAB-Map-Database-information-tp3286p3444.html

Hi,

Only data of the last node is published. It is for bandwidth efficiency. The node subscribing to mapData should buffer the values on its side, like wifiLevels map used in the WifiSignalSub example.

To get all data from all nodes, you can call service "/rtabmap/get_map". It returns a MapData with all data when global=true, optimized=true and graphOnly=false. This may be called once at start if the mapping node has already a map, then keep what you need in cache on your side and subscribe to /rtabmap/mapData just to get latest data added.

cheers,
Mathieu