Re: RTAB-Map occupancy grid map error in Turtlebot3 Gazebo

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-occupancy-grid-map-error-in-Turtlebot3-Gazebo-tp5886p5903.html

The error looks coming from the laser scans. Some rays have very large range. A quick fix on rtabmap side is to set Grid/RangeMax to 50 for example. This will filter those very far scans. Can you show an example of scan topic?

$ rostopic echo /scan

For your other question, no, rtabmap doesn't do dense structure from motion (based only on RGB images). We can see the 3d visual features when enabled in rtabmapviz->Preferences->3D Rendering->Miscellaneous section. To export the 3d visual features, we can do File->Export Bundler format... and check 3d points.

If you have a rotating 2D lidar, you could assemble the scans into a Pointcloud2 during a rotation, then feed the resulting assembled cloud to rtabmap (subscribe_scan_cloud:=true). The laserscan_to_pointcloud and rtabmap_ros/pointcloud_assembler nodelets can be used for that.

With the assembled cloud, you could also create a depth image for the RGB image with rtabmap_ros/pointcloud_to_depthimage nodelet.

cheers,
Mathieu