Run rtabmap without rgbd_mapping.launch or rtabmap.launch

Posted by Salvathor on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Run-rtabmap-without-rgbd-mapping-launch-or-rtabmap-launch-tp4846.html

Hello matlabbe

I would like to work with rtabmap in the following way, but not if this is the right thing to do:

In a few words I do the following:

1.- Execute from console the following instruction:

$ ratbamap

With this I get rtabmap started as such.

2.- I create a new database and I start to make a map in a normal way; So far so good, but the problem I have is that when you start simulating rviz and want to visualize the 3D point cloud and the occupation grid map (2D map), I can not do it because certain topics are not published, because example:

/ rtabmap / proj_map
or
/ rtabmap / grid_map

Now, I have noticed that when executing rgbd_mapping.launch or rtabmap.launch these and other topics if they are published, which allows me to be able to visualize the 3D point cloud and the occupancy grid map (2D map) in rviz.

Summarizing all the above, I have the following doubts:

What am I doing wrong?

Is there any way for all of these topics to be published, that is, as if you were using rgbd_mapping.launch or rtabmap.launch?

What node or nodes should I run, so that I can visualize the information I want from rviz?

Thank you in advance, and I hope a quick response, thank you.