Re: Using other map for navigation

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Using-other-map-for-navigation-tp4575p4576.html

Hi,

Is it because you edited the bt file that you need to use octomap_server? Because you could subscribe to /rtabmap/octomap_grid directly without using octomap_server if your want the map from octomap projection (similar to "projected_map").

RTAB-Map doesn't localize in OctoMap, it localizes against images saved in the database. Normally, the octomap published by octomap_server would be in the same frame (map) than rtabmap localization (if you saved the final octomap created by rtabmap), so it is possible to run rtabmap and octomap_server at the same time. The map from octomap_server won't be used by rtabmap for localization, but can be used for navigation as input to move_base.

cheers,
Mathieu