Re: How to assemble point cloud from additional lidar (planar)

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/How-to-assemble-point-cloud-from-additional-lidar-planar-tp3579p3584.html

Hi Alex,

Look at this example. The downside is that rtabmap cannot subscribe to both 2D laser scan topic ("scan") and 3D point cloud topic ("scan_cloud") at the same time, so the horizontal lidar could not be saved in the map. To add scans from both lidars, the trick would be to merge the output point cloud of laser_assembler with the horizontal laser scan (which would need to be converted to a point cloud), then input the resulting merged point cloud to rtabmap node ("scan_cloud" topic).

cheers,
Mathieu