Re: Using Navigation Stack with RTAB Map on P3Dx

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-Navigation-Stack-with-RTAB-Map-on-P3Dx-tp4354p4367.html

As it is a similar setup than turtlebot, I suggest to read and follow all launch files directly and indirectly included in this example. "roslaunch turtlebot_bringup minimal.launch" would be replaced by RosAria. The bringup should at least setup TF, publish odom and subscribe cmd_vel. Then "demo_turtlebot_mapping.launch" could be used. The other thing included in this launch is turtlebot_bringup/launch/3dsensor.launch, which starts the kinect and create a depthimage_to_laserscan node to create a fake scan (/scan) from the kinect. Rtabmap will subscribe to odometry, RGB image, Depth image, RGB camera_info and /scan.

cheers