Re: RTAB-Map on Jetson Nano

Posted by matlabbe on
URL: http://official-rtab-map-forum.206.s1.nabble.com/RTAB-Map-on-Jetson-Nano-tp5875p5914.html

Yes, it would be better to launch rviz on remote computer and subscribe to topics published by the jetson. For visualization, subscribing to only rtabmap/mapData topic with rviz's rtabmap_ros/MapCloud plugin could be enough, as subscribing to depth images with compressedDepth plugin can use a lot of resources (on the jetson) and the framerate would suffer.

Can you point out which kind of configuration on this page you are looking for? as I see you have a 2d robot with lidar. Do you have wheel odometry available? It looks like you could do something similar to the first configuration: http://wiki.ros.org/rtabmap_ros/Tutorials/SetupOnYourRobot#Kinect_.2B-_Odometry_.2B-_2D_laser

cheers,
Mathieu