Re: Trajectory graph display modification

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Trajectory-graph-display-modification-tp4078p4080.html

Hi,

In rtabmapviz, the options are indeed limited. Workaround is to show the Graph View (Window->Show view...) to see better the path (color of the path can be also changed on right-click). You can also decrease alpha channel (transparency) in Preferences->3D Rendering of the map to see the path. The path color in the 3D Map view is related to mapping session. The second session would show up in pink instead of cyan, the third session in yellow and so on...

You may use RVIZ instead of rtabmapviz to get more rendering options. To show graph in RVIZ, add a rtabmap_ros/MapGraph display and subscribe to /rtabmap/mapGraph. To show 3D map in RVIZ, add rtabmap_ros/MapCloud display and subscribe to /rtabmap/mapData. Make sure the fixed frame in global option is set to /map to properly see the map topics.

cheers,
Mathieu