Re: Grid_map: Mapping empty space without obstacle in laser range

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/Grid-map-Mapping-empty-space-without-obstacle-in-laser-range-tp585p586.html

Hi Mark,

If the objects are outside the laser scan range, the "empty" spaces will not be traced. Only for the latest node added to map that the empty spaces will be traced (as you can see on your screenshot in front of the robot).

You can try /rtabmap/proj_map instead of /rtabmap/grid_map, the proj_map will add empty cells on the ground (assuming that the camera can see the ground).

cheers