Re: Cant get map to display using Orbbec Astra Pro

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Cant-get-map-to-display-using-Orbbec-Astra-Pro-tp4984p5117.html

Hi,

1) with rtabmap.launch, you can add argument "rviz:=true". You can also just start rviz alone, and add display stuff you want. To get similar 3D than rtabmapviz, the display is called rtabmap/MapCloud in rviz.

2) Look at the static_transform_publisher documentation. For the orientation, those are 90 deg angles in yaw and roll to rotate the camera in ROS coordinate system. From (x->right, y->down, z->forward) to (x->forward, y->left, z->up).

3) For the point cloud you are seeing in rtabmapviz, open Preferences->3D Rendering, under Map column.

cheers,
Mathieu