Re: Local Map

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Local-Map-tp3593p3603.html

Hi,

You may use the local costmap created by move_base to do local planning, which is fixed and generally small (e.g., 5x5 meters).

What maximum size of the global map published by rtabmap would you want (at a resolution of 5 cm cell)? If 20/30 meters is enough, we could save some computation time when generating the global occupancy grid map, though not sure it would be significant (unless you have a map over 50/100 meters wide). Is it your local planning approach that may significantly uses less computation time if the map is limited to a fixed size?

cheers,
Mathieu