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-tp4354p4395.html

Hi,

move_base should be launched by the included "move_base.launch.xml" here:

<include file="$(find turtlebot_navigation)/launch/includes/move_base.launch.xml"/>

rtabmap node replaces gmapping, map_server and AMCL liked the schema in this tutorial. When launching demo_turtlebot_mapping.launch with localization:=false, the results will be similar to gmapping step of the official tutorial. Then when relaunching with localization:=true, it is like launching with map_server+AMCL for localization-only (like this tutorial).

cheers,
Mathieu