Re: Run rtabmap without rgbd_mapping.launch or rtabmap.launch
Posted by
matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Run-rtabmap-without-rgbd-mapping-launch-or-rtabmap-launch-tp4846p4858.html
Hi,
When launching:
$ rtabmap
it is the standalone version of rtabmap that is launched (without ROS). You can use rtabmap.launch for convenience to use rtabmap under ROS:
$ roslaunch rtabmap_ros rtabmap.launch args:="-d" rviz:=true
The '
args:="-d"' make rtabmap delete the previous database (in ~/.ros/rtabmap.db) before starting.
See this tutorial for examples to use directly with a camera (like the standalone version):
http://wiki.ros.org/rtabmap_ros/Tutorials/HandHeldMappingcheers,
Mathieu