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-tp439p511.html

Hello Mike,

I don't know if I understand well the "spinning" problem you are seeing. Some pictures may help...

RTAB-Map doesn't do exploration autonomously, but you can do autonomous navigation with the map created. See "You can then follow the same steps from 3.3.2 of the "Autonomous Navigation of a Known Map with TurtleBot" tutorial to navigate in the map." on the first post above.

RTAB-Map publishes the graph at each map update. The graph contains position of each nodes in the map. See rtabmap_ros/MapData topic. For example, to show only poses:

[git master] $ rostopic echo /rtabmap/mapData/graph/poses
[git devel] $ rostopic echo /rtabmap/mapData/poses

You can also open the database created by turtlebot in RTAB-Map standalone to get data you want.

cheers,
Mathieu