Re: Laser scan data with UAV

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Laser-scan-data-with-UAV-tp3649p3652.html

Hi,

Yes it is possible. However, rtabmap assumes we are mapping in 2D when a laser scan (sensor_msgs/LaserScan) is subscribed. To input a 2D laser scan for 3D mapping, we should convert the laser scan into a point cloud and use the resulting sensor_msgs/PointCloud2 for rtabmap (enabling "subscribe_scan_cloud" parameter and remapping "scan_cloud" topic).  

If you want to have a vertical lidar scanning the ground while the UAV is flying forward, you may look at this laser_assembler example.

cheers,
Mathieu