Re: Demo RTAB-Map on Turtlebot

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Demo-RTAB-Map-on-Turtlebot-tp439p451.html

Hello Mike,

It should be the "~" that I've put in the database_path parameter. Normally, newer rtabmap versions >0.8.12 (Indigo/Jade) should handle this. I've still updated the launch file to not use it (so the older versions should work).

For Hydro, the packages are still at 0.8.3. To have the grid map, you should add the grid_map_assembler node in the rtabmap namespace and remap its output to /map so move_base can use it:

<group ns="rtabmap">
  ...
  <node pkg="rtabmap_ros" type="grid_map_assembler" name="grid_map_assembler">
    <remap from="grid_map" to="/map"/>
  </node>
<group/>