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-tp3579p3604.html

rtabmap subscribes either to a LaserScan topic ("scan") or a PointCloud2 topic ("scan_cloud"), not both at the same time. You would have PointCloud2 + RGBDCamera + odom to produce the map. The PointCloud2 input would include both the horizontal and vertical scans.

horizontal lidar (/base_scan) --> scan_to_cloud (/base_scan_cloud) --
                                                                     \
                                                                      merge_clouds (/scan_cloud) ----
                                                                     /                               \
vertical lidar (/v_scan)--> laser_assembler (/assembled_scans) ------                                 \
                            /                                                                          \
                           / (tf odom)                                                                  \
                          /                                                                              \
tf -------------------------------------------------------------------------------------------------\     \
                                                                                                     \     \
Odom (/odom)----------------------------------------------------------------------------------------> rtabmap
                                                                                                      /
RGBD images (camera/rgb/image_rect_color, camera/depth_registered/image_raw, camera/rgb/camera_info)--

cheers,
Mathieu