Re: grid_map_assembler for localization

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/grid-map-assembler-for-localization-tp412p414.html

Call this service when the database is loaded from rtabmap:

$ rosservice call /rtabmap/publish_map 1 1 0

This will send all data to grid_map_assembler so it can generate the 2d map.

Note that latest code from source, grid_map_assembler is not required, rtabmap already publishes the grid map (so no need to call the service on start) under "grid_map" topic.

Update
Well, the robot should find a loop closure (re-localize) before the grid map can be shown.